WS02-MCTC1-E - OMRON INDUSTRIAL AUTOMATION

Motion Control Units

CS1 Series

CS1W-MC421/221

Specification Sheets

“Programmable Controller” is abbreviated as “PC” in these

Specification Sheets.

CS1-series

Motion Control Units

CS1W-MC421/221

CS1 Special I/O Unit

Multitasking G Language for Advanced, High-speed, and High-precision 2/4-axis

Motion Control

The CS1W-MC421 and CS1W-MC221 are

CS1-series Motion Control Units that control four

axes and two axes, respectively. With their built-in

G-language programming capability, they can be

used

for

advanced motion control operations, such

as traversing, and their multitasking capability

allows operations to be performed independently

for each axis. Two types of motion control are

possible: Point-to-point and continuous path.

1. Point-to-point Control: With point-to-point (PTP) control,

positioning is controlled independently for each axis. The

pathway varies according to the travel distances, the feed

rates,

and other set parameters.

2. Continuous Path Control: With continuous path (CP)

control,

not only the start position and target

position can be

controlled but also the path between those points. Linear

interpolation,

circular interpolation,

helical circular interpola

tion, and traversing are all possible.

The

MC Unit has been developed for use in simple position

ing

applications using servomotors. Applicable machines are

follows:

•Conveyor

Systems: X/Y tables, palletizers/depalletizers,

loaders/unloaders,

etc.

•Assembling

Systems:

Automated assembling machines

(such as coil winding, polishing, hole punching), simple

robots,

etc.

Note: The

MC Unit is not designed to perform linear interpolation,

circular interpolation, or helical circular interpolation with

horizontal

articulated robots or cylindrical robots,

because

it does not support coordinate conversions. The MC Unit

can,

however

, perform PTP control with these robots.

CS1W-MC421 CS1W-MC221

System Configuration

MC Support

Software

Analog input

servodriver

MC Unit

(Example: CS1W-MC221)

CPU Unit

Servomotor

MC Terminal Block

Conversion Unit

Teaching Box

Automatic Mode

G language program

Operating

commands

Data bits

CPU UnitMC Unit

Manual Mode

Manual

controls

Data bits

Manual controls

CPU Unit

MC Unit

Teaching Box

Product Specifications

Motion Control Units Product Specifications

Unit functions

Automatic Mode

(Executes G-language programs

in the MC Unit.)

Manual Mode

(Executes manual commands

from the CPU Unit or T

eaching

Box.)

Common to Automatic

and Manual Modes

Position control

Speed control

Origin search

Interrupt feeding

Traversing

Arithmetic operations, etc.

Deceleration stop

Origin search (manual)

Standard origin return

Jogging

Error counter reset

Forced origin

Absolute origin setting

Servo lock/Servo unlock

Teaching

Zones

Backlash correction

Override

Present position preset

Electronic gear

Dwell timer

Stop Mode

Pass Mode

In-position

Check OFF Mode

Features

Multitasking

G Language

The

MC Unit is

provided with a multitasking G language, which is the

optimum

language

for motion control. The G language makes it sim

ple to create programs for multiaxis

control, without placing a bur

den on the CPU Unit’

s ladder diagram program.

Simple and Fast T

raverse Operations

Commands for 2-axis traverse operations enable simple and fast

traverse

operations.

Fast Pick-and-place Operations

After

a positioning command has been output,

the in-position check

OFF function allows the next positioning operation to be started

without waiting for the first positioning operation to be completed.

This

makes it possible to perform high-speed pick-and-place opera

tions.

Supports

Absolute Encoders

The MC Unit is compatible with absolute encoders as a standard

feature,

eliminating the need to perform an origin search. Incremen

tal

encoders can be used as well.

High-speed Response to Start Commands from CPU Unit

The

response time from when a start

command is received from the

CPU

Unit until the command voltage is output from the MC Unit is

for two axes and 13 ms for four axes (MC421 only).

This is 1.5

times

faster than the previous models.

Note: T

wo-axis MC Unit

This function applies to the X axis when a 2-axis, 1-task

configuration

is used.

Four-axis MC Unit

This function applies to the X axis when a 4-axis, 1-task

configuration

is used.

500-kp/s Encoder Response Frequency

The maximum feedback encoder response frequency is 500 kp/s,

the MC Unit can be used with high-speed and high-precision ser

vomotors. This is double the response frequency of the earlier mod

els.

CPU Unit Interrupts

CPU

Unit external interrupt task can be started by outputting a D

code (interrupt code) for the CPU Unit when positioning is com-

pleted

or when passing through a particular position.

This feature is

ideal

for high-speed synchronization between the MC Unit and CPU

Unit.

Other

Functions

•

Unlimited Feeding

This function executes unlimited feeding for the specified axis.

Use of this function allows the user to control unlimitedly fed

axes, such as those for turntables or one-way conveyors. The

present value can be increased or decreased within the

specified

range.

•

Synchronous Electronic Gear

Input pulses for a synchronous encoder can be accelerated or

decelerated for each axis at any timing. The acceleration or

deceleration

rate is specified by a numerator/denominator

ratio.

provide simple synchronous control,

this function can also be

enabled

or disabled for each axis at any timing.

•Error Counter Reset

After a deceleration command has been completed, the error

counter

reset function forcibly sets the error counter to 0 to stop

the axis operation completely. This function is best suited for

machine

press control in molding and other processes.

•

Multiturn Circular Interpolation

The multiturn circular interpolation function has been added to

the existing circular and helical circular interpolation functions.

This function can be used for applications such as winding

machine

operations.

•

Override (Real T

ime Speed Change)

The speed can be changed during PTP, linear interpolation, or

circular interpolation operations in which the axis stops during

the

positioning operation. (This function is invalid in pass

mode

in-position check OFF mode.)

•

Pass Operations

The

acceleration and deceleration times can

be changed during

pass operations. It is possible to specify whether to pass the

operation using the previous acceleration time or pass the

operation

using the deceleration time during

pass operations. It

also possible to pass the operation at a constant

acceleration

rate

during single-axis pass operation.

Product Specifications Motion Control Units

•Servo

Parameter Changes

The

servo gain, such as the

feed-forward gain, can be changed

from a G language program. Therefore, if position loop

feed-forward gain is enabled during circular interpolation, the

level

of accuracy for circular interpolation can be improved.

•

Comprehensive Functions in Origin Search Mode

The

search pattern can be selected to reduce

the origin search

time. It is possible to select either deceleration stop or error

counter-based stop when a limit input is received during origin

search. Origin searches are also possible in absolute encoder

systems.

•Interrupt

Feeding

This

function uses general-purpose inputs (interrupt signals) to

move

the specified axis by the specified distance for positioning.

It is possible to perform positioning

operations

when no interrupt

signals

are received during interrupt feeding.

•

Brake Signal Outputs

make motor operation even easier

, brake signal outputs (also

used as a general-purpose output) can be used during servo

lock

or unlock.

•Stopover

stopover outputs M code or D (interrupt) code without stopping

operation

after feeding the axis by the specified distance during

operation. The cycle time can be reduced by controlling

peripheral

devices before the operation is completed.

•Error Logging

The

error log can store up to 20 error records, such as positioning

errors

or hardware errors in the MC Unit or operation fatal errors

in the CPU Unit, together with the date and time of each error.

The

error log can be read using the CX-Motion.

Windows-based MC Support Software: CX-Motion

•

Multiple MC Unit Management in Project Units

Multiple

MC Units can be registered as one project. This allows

simultaneous

management of multiple MC Units.

•T

ree Display for Edit or Monitor Screens

Data

will be displayed in tree format on the left side of the window

so that the user can easily understand the location of the data

currently

being set, edited, or monitored.

•

Servo Information T

race Function

Speed reference values, the present speed, and the error

counter can be traced with specified starting conditions and a

specified

sampling period using the Windows-based

CX-Motion.

to 500 items can be traced, making it easy to adjust the servo

system.

•Automatic

Loading Function

When

it is necessary to use more programs or position data than

can be stored in the MC Unit, programs or position data stored in

external memory device at

the computer where CX-Motion is

installed can be automatically downloaded to the MC Unit’s

internal

memory

. This function allows the system to cope with

application

consisting of more than 100 programs.

•

Single-port Multiaccess Function

Windows-based Support Software package called CX-Motion

can

be used on the same computer and through the same port as

the CX-Programmer, enabling multiple programming environ-

ments

on a single computer

•

User-defined Mnemonics

The user can enter G codes or mnemonics corresponding to

each G code when writing a program. The user can register or

change

these mnemonics as required, making it easy

to write or

analyze

MC programs.

•

File Conversion

The existing system parameters, position data, and programs

created

using previous versions of the MC Support Software can

converted for use with the CX-Motion.

Data Creation Using T

eaching Box

addition to entering numbers

in the Position Data Edit Window of

the

MC Support Software (CX-Motion), it

is possible to create posi

tion

data by using the T

eaching Box to teach positions while actually

moving

the machinery

Operate with MPG

Positioning

and simple sync operations can be performed using

MPG

(manual pulse generator).

Models

Applicable PCs

Unit classification

Controlled driver

Number of controlled

axes Model

CS1 Series

CS1 Special I/O Unit

Analog input servodriver

4 CS1W-MC421

CS Se es

CS S ec a /O U

a og u se od e

2 CS1W-MC221

MC Unit Support Software (Sold Separately)

Name Computer Supported

MC Units

Specifications Model

CX-Motion IBM PC/A

T or

compatible CS1W-MC421/221,

C200H-MC221,

CV500-MC421/221

Operating system:

Windows 95/98/NT V4.0

CPU: Pentium, 100 MHz

min.

Memory: 32 MB min.

Hard disk: 10 MB min.

CD-ROM drive: 1 min.

(for setup)

Functions: Creating and

editing system

parameters, creating and

editing position data,

creating MC programs

(G language), monitoring

MC Units, saving data in

flash memory

, printing,

automatic loading, file

conversion, etc.

WS02-MCTC1-E

Connecting Cables

Connection to CPU Unit Computer

Cable length

Cable model

Peripheral port

IBM PC/A

T or compatible

2.0 m, 6.0 m

CS1W-CNjjj

RS-232C port

IBM PC/A

T or compatible

2.0 m, 5.0 m

XW2Z-jjjS (-jj)

Motion Control Units Product Specifications

Specifications

Item Specifications

Model CS1W-MC221 CS1W-MC421

Applicable PC CS1 Series

ype of Unit

CS1 Special I/O Unit

Backplanes on which MC Unit can

be mounted

CPU Backplane or CS1 Expansion I/O Backplane (See note 1.)

Method for data

transfer with

CPU U it

ords allocated

to Special I/O

U it i CIO

30 words/Unit (uses 3 unit numbers.) (See

note 2.)

50 words/Unit (uses 5 unit numbers.) (See

note 2.)

CPU Unit Units in CIO

Area

CPU Unit to MC Unit:

Commands: G-language program execution/stop, origin search, manual operation, etc.

Data transfer: Position data, acceleration/ deceleration data, etc.

MC Unit to CPU Unit:

Status: Positioning completed, zones, busy flag, etc.

Monitor data: Present position, error codes, M codes, etc.

ords allocated

to Special I/O

Units in DM Area

Not used. Not used.

Controlled Driver

Analog input servodriver (Example: OMRON OMNUC H, M, or U Series)

Built-in program language

G language (Started by receiving a start command from the CPU Unit ladder diagram program.)

Control

Control method

Speed reference voltage output-type semi-closed loop system, using incremental and absolute

encoder inputs.

Number of

tlld

2 max. 4 max.

ubeo

controlled axes

Multitasking can be used to execute independent operating modes and programs for each axis.

Automatic/Manual Mode (for each

task)

Automatic Mode: Mode for executing MC program created in G language.

Manual Mode: Mode for executing manual commands from CPU Unit (PC interface area) or

eaching Box.

Note: The Automatic or Manual Mode is set according to the PC interface area of the CPU Unit.

There are a total of 1

1 Automatic Mode commands, including origin search, reference origin

return, JOG, and error reset.

The operation cycle is started in Automatic Mode through dedicated bits in the CPU Unit or from

the T

eaching Box.

Encoder interface

Line receiver input; maximum response frequency: 500 kp/s (before multiplication)

Pulse ratio: Select 1, 2, or 4

Note: The applicable absolute encoder is the OMRON OMNUC U Series.

Control unit

Minimum setting

unit

1, 0.1, 0.01, 0.001, 0.0001

Units

mm, inch, degree, pulse (There is no unit conversion function.)

Maximum command value

–39,999,999 to +39,999,999 (When the minimum setting unit is 1.)

Number of controlled axes

2 axes max. 4 axes max.

Positioning

operations PTP

(independent)

control

Execution by independent programs, operating modes for each axis.

Linear

interpolation 2 axes max 4 axes max.

Circular

interpolation

Circular interpolation for a maximum of two axes on a plane.

Helical circular

interpolation ---

Circular interpolation for a maximum of two

axes on a plane + one axis for feed control

raverse function

raverse operation for two axes

Speed control

Speed control for each axis

Unlimited Feed

Mode

Axis feeding can be executed with no limit.

Interrupt feeding

Feeding a fixed distance after an interrupt input, for each axis. (Positioning with no interrupt

input signals is also possible.)

Speed reference

1 pps to 2,000 kp/s (when ratio is 4)

Acceleration/deceleration curve

rapezoidal or S-curve

Acceleration/deceleration time

Individual acceleration/deceleration settings possible: 0 to 100,000 ms (2-ms increments)

Note: 1. The

MC Unit must be mounted to the CPU Rack to use D codes. D codes will not be sent to the CPU Unit

if the MC Unit is mounted to

a CS1 Expansion Rack.

2. The

number of MC Units that can be mounted under one CPU Unit must be determined based on the maximum number of

Special

I/O Units that can be allocated words in the CPU Unit, the power supply capacity on the CPU or CS1 Expansion Rack, and the

current

consumption of the Units mounted to the

Rack. Refer to the CPU Unit’

s operation manual for details on calculation methods.

Product Specifications Motion Control Units

Item Specifications

External I/O Peripheral

device T

eaching Box (1 only)

Encoder

Line receiver inputs:

For two axes

(500 kp/s before multiplication)

Line receiver inputs:

For four axes

(500 kp/s before multiplication)

MPG/sync

encoder

Line driver output-type MPG/sync encoder: 1

500 kp/s max. (before multiplication)

Servodriver

relationships

The following signals are each provided for

two axes:

The following signals are each provided for

four axes:

Inputs:

Driver alarm signals

Outputs:

Driver alarm reset signals

High-speed reference voltage outputs (

10 V)

Operation command outputs

SEN signals (for absolute encoder)

Individual axis

control

The following signals are each provided for

two axes:

The following signals are each provided for

four axes:

Input:

CCW limit inputs

CW limit inputs

Origin proximity inputs

Emergency stop inputs

Others

General inputs: 4 pts. (interrupt inputs)

General outputs: 4 pts. (brake signal outputs)

Feed operations

Rapid feed rate

Example: 36.86 m/min

iti

Interpolation

feed rate

Conditions

Encoder resolution: 2,048 p/r

Motor speed: 4,500 r/m

Control unit: 0.001 mm/pulse

Rapid feed

override

0.1% to 100.0% (Setting unit: 0.1%)

Interpolation

feed override

0.1% to 199.9% (Setting unit: 0.1%)

Jog feed

override

0.1% to 100.0% (Setting unit: 0.1%)

Axis control

Zone settings

Up to 8 zones/axis can be set.

sco o

Backlash

correction

Can be set from 0 to 10,000 pulses.

In-position zone Can be set from 0 to 10,000 pulses.

Position loop

gain

1 to 250 (1/s)

Feedforward

gain

0% to 100%

ask program

Number of tasks

2 max. (program execution units) 4 max. (program execution units)

as og a

management

Number of

programs

When 1 task is used:

100

When 2 tasks are used:

When 1 task is used:

100

When 2 tasks are used:

When 3 task are used:

When 4 tasks are used:

Program

capacity

When 1 task is used:

2,000 blocks

When 2 tasks are used:

1,000 blocks/task

The maximum number of blocks in a single

program is 800.

When 1 task is used:

2,000 blocks

When 2 tasks are used:

1,000 blocks/task

When 3 task are used:

666 blocks/task

When 4 tasks are used:

500 blocks/task

The maximum number of blocks in a single

program is 800.

Position data

capacity

2,000 positions max. (total for all axes)

Number of

registers

32 (Mainly used for specifying position data numbers.)

Subroutine

nesting

5 levels max.

Saving program

MC Unit

Backed up by flash memory

Sa g og a

data External

peripheral

devices

CX-Motion can be used to save data to a floppy disk or the hard disk at the personal computer

Motion Control Units Product Specifications

Item Specifications

Program

and position data automatic

download function

When the operation number (program or position data) is specified by an IOWR instruction from

the CPU Unit, CX-Motion recognizes it and downloads the program or position data to the MC

Unit.

Self-diagnostic function

Memory corruption is detected.

Error detection functions

Error counter warning, error counter over

, absolute encoder error detection, CPU errors,

communications errors (T

eaching Box), flash memory error

, EEPROM error

, software limit over

error

, phase-Z error

, overtravel, emergency stop, unit number error

, driver alarm detection,

driver reverse wiring detection, CPU Unit error detection

Error log function

Stores up to 20 error log records.

Model CS1W-MC221 CS1W-MC421

Settings

Front panel: Rotary switches for unit number

setting (0 to 93)

Rear panel: None

Front panel: Rotary switches for unit number

setting (0 to 91)

Rear panel: None

Indicators

7 LED indicators: Running, MC Unit error

CPU Unit error

, motor rotation direction for

each axis (CCW/CW)

1 LED indicators: Running, MC Unit error

CPU Unit error

, motor rotation direction for

each axis (CCW/CW)

Connections on front panel

Servodriver connector

, I/O connector

eaching Box connector (one each)

Servodriver connectors (two), I/O connector,

eaching Box connector

, MPG connector

Power supply voltage

5 VDC (from Backplane)

o e su y o age

24 VDC (from external power supply)

oltage fluctuation tolerance

4.75-5.25 VDC (from Backplane)

o age uc ua o o e a ce

21.6-26.4 VDC (from external power supply)

Internal current consumption

600 mA or less for 5 VDC (with T

eaching Box

connected: 800 mA or less)

700 mA or less for 5 VDC (with T

eaching Box

connected: 1,000 mA or less)

eight (Connectors excluded)

450 g max. 540 g max.

Safety standards

Conforms to UL (Class 2), CSA (class 2), and EC specifications.

External dimensions

130.0

100.5 mm (H

× D)

Single-slot size

130.0

70.0

100.5 mm (H

× D)

Double-slot size

Standard accessories

10136-3000VE snap-on connector for

Servodrivers and 10336-52F0-008 Connector

Cover (manufactured by Sumitomo 3M): 1 set

10126-3000VE snap-on connector for I/Os

and 10326-52F0-008 Connector Cover

(manufactured by Sumitomo 3M): 1 set

Antistatic screws: 4

10136-3000VE snap-on connector for

Servodrivers and 10336-52F0-008 Connector

Cover (manufactured by Sumitomo 3M): 2

sets

10126-3000VE snap-on connector for I/Os

and 10326-52F0-008 Connector Cover

(manufactured by Sumitomo 3M): 1 set

101

14-3000VE snap-on connector for MPG

and 10314-52F0-008 Connector Cover

(manufactured by Sumitomo 3M): 1 set

Antistatic screws: 8

Cat. No.

W359

Product Specifications Motion Control Units

Options (Sold Separately)

Name Specifications Model

erminal Block Conversion

Uit

For easier wiring of I/O

2-axis XW2B-20J6-6

e a oc Co e s o

Unit

o eas e g o /O

connectors 4-axis XW2B-40J6-7

MC T

erminal Block Conversion

Unit Cable For connecting the I/O connectors on the front panel of the Unit

XW2Z-100J-F1

Snap-on connector for

Servodriver connector on Unit

ft l(12t idd

Soldered connector

10136-3000VE (manufactured

by Sumitomo 3M)

front panel (1 or 2 sets provided

as standard on the Unit)

Connector cover 10336-52F0-008

(manufactured by Sumitomo

3M)

Snap-on connector for I/O

connector on Unit front panel (1

tiddtddth

Soldered connector

10126-3000VE (manufactured

by Sumitomo 3M)

(

set provided as standard on the

Unit) Connector cover 10326-52F0-008

(manufactured by Sumitomo

3M)

Snap-on connector for MPG

connector on Unit front panel (1

tiddtddth

Soldered connector

101

14-3000VE (manufactured

by Sumitomo 3M)

(

set provided as standard on the

CS1W

-MC421 Unit only)

Connector cover 10314-52F0-008

(manufactured by Sumitomo

3M)

eaching Box

Jogging, origin search, present value monitoring, and other

operations by means of manual commands

eaching (taking present values into position data)

CVM1-PRO01-E

eaching Box Connecting

Cbl

Cable length: 2 m

CV500-CN224

eac g o Co ec g

Cable

Cable length: 4 m

CV500-CN424

Cable length: 6 m

CV500-CN624

ROM Cassette

Required when the CVM1-PRS21-V1 Programming Console is

used as a T

eaching Box.

CVM1-MP702

CX-Motion Connecting Cables

Unit Port on Unit Computer Port on

computer Serial

communications

mode (network)

Model numbers

Length Remarks

CPU Unit Peripheral

IBM PC/.A

T 9-pin

Peripheral bus or

H t Li k

CS1W-CN226

2.0 m

---

CUU

eea

com

atible

D-sub

male

e e a bus o

Host Link CS1W-CN626

6.0 m

RS-232C

(9-

in D-sub

compa

tibl

ema

eXW2Z-200S-CV

2.0 m

ESD (static electric-

ity)-resistant con-

(9-pin D-sub

female) XW2Z-500S-CV

5.0 m

ity)-resistant con-

nectors used.

Serial

Communications

RS-232C

(9-

in D-sub

Host Link XW2Z-200S-CV

2.0 m

Communications

Board/Unit

(9-pin D-sub

female) XW2Z-500S-CV

5.0 m

Connecting RS-232C Cable to Peripheral Port

Unit Port on Unit Computer Port on

computer Serial

communications

mode (network)

Model numbers

Length Remarks

CPU Unit

Peripheral port

IBM PC/.A

compatible

9-pin D-sub

male

Peripheral bus or

Host Link CS1W-CN1

18 +

XW2Z-200S-CV

XW2Z-500S-CV

0.1 m +

(2 or 5 m)

ESD (static

electricity)- resistant

connectors used for

XW2Z-j00S-CV.

Host Link CS1W-CN1

18 +

XW2Z-200S-V

XW2Z-500S-V

---

Connecting CQM1-CIF01/02 Cable to Peripheral Port

Unit Port on Unit Computer Port on

computer Serial

communications

mode (network)

Model numbers

Length Remarks

CPU Unit

Peripheral port

IBM PC/.A

compatible

9-pin D-sub

male Host Link CS1W-CN1

14 +

CQM1-CIF02

0.5 m + 3.3 m

---

Motion Control Units Product Specifications

Connecting an IBM PC/A

T or Compatible with RS-232C Cable

Unit Port on Unit Computer Port on

computer Serial

communications

mode (network)

Model

numbers Length Remarks

CPU Unit RS-232C

(9-

in D-sub

IBM PC/.A

9-pin D-sub

male

Host Link XW2Z-200S-V

2 m

---

(9-pin D-sub

female) or

compatible male XW2Z-500S-V

5 m

Serial

Communications

RS-232C

(9-

in D-sub

Host Link XW2Z-200S-V

2 m

Communications

Board/Unit

(9-pin D-sub

female) XW2Z-500S-V

5 m

Applicable CPU Units

PC CPU

Unit model

number T

otal number of MCUs that can be mounted on CPU Racks and

Expansion I/O Racks

Unit location

restrictions

CS1-series CS1H-CPUjj

CS1G-CPUjj CS1W

-MC221: 32 Units (each Unit requires 30 words equivalent to 3 unit

numbers; unit numbers 0 to 93)

CS1W

-MC421: 19 Units (each Unit requires 50 words equivalent to 5 unit

numbers; unit numbers 0 to 91)

The current consumption must be within the allowable range for the

Power Supply Unit.

None

Overview of Operations

Item Contents

Operating

modes

The following two modes are available.

Manual Mode: Operation according to CPU Unit memory area or commands from

Teaching Box.

Automatic Mode: Operation according to commands in G-language program.

Manual Jogging

Moves axes continuously by manual operation.

aua

Handle feed

Moves axes by MPG.

Deceleration stop Decelerates to a stop according to command.

Manual origin search

Searches for mechanical origin. (Origin search is possible in either an incremental or

absolute encoder system.)

Manual origin return

Moves to origin in reference coordinate system.

Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In an absolute

encoder system, only the present position of the MC Unit will be set to 0.)

Absolute origin setting Sets the origin for an absolute encoder

Servo-lock

Creates a position loop and turns ON the operation command output to the

servodriver

, while simultaneously releasing the brake. When an absolute encoder is

used, the absolute position is read before the servo-lock is applied.

Servo-unlock

Releases the position loop and applies the brake, and simultaneously turns OFF the

operation command output to the servodriver

. Servo-unlock can be executed even in

Automatic Mode.

Electronic gear function

A fixed ratio (numerator and denominator) can be applied to input pulses, and output

to the servomotor driver

Product Specifications Motion Control Units

Item Contents

Automatic Positioning

with linear

interpolation

Executes linear interpolation at the specified interpolation feed rate for up to either

two or four axes simultaneously

Positioning with circular

interpolation

Executes clockwise or counterclockwise 2-axis circular interpolation at the specified

interpolation feed rate.

Positioning with helical

circular interpolation

Executes clockwise or counterclockwise 2-axis circular interpolation and 1-axis linear

interpolation (i.e., helical interpolation) at the specified interpolation feed rate.

vailable for CS1W

-MC421 only

raverse function

Executes winding (traverse operation).

Speed control

Moves a maximum of either two or four axes at a controlled speed.

Interrupt feeding

Moves a specified axis for a fixed amount when a general input is turned ON. With

interrupt feeding, positioning without an interrupt signal can be executed.

Switching to Pass Mode

Changes to Pass Mode, in which operations are executed one by one with no

deceleration stop. In Pass Mode, the interpolation acceleration or deceleration time of

the previous operation can be specified for the next operation (Pass Mode time

selection). A pass operation for only one axis can be executed at a fixed acceleration

(with a fixed acceleration mode setting).

Switching to In-position

Check OFF Mode

Starts the next positioning operation without waiting for the current one to be

completed.

Stop-over function

Outputs an M code or a D code while axes are being moved by a fixed amount

(determined by present position), without stopping the operation. G codes are also

possible for all operations.

Dwell timer

Pauses positioning for a specified time.

orkpiece origin return

Automatically returns to workpiece origin.

Automatic origin return

Automatically returns to reference coordinate system origin.

Automatic Cycle start

Executes a specified program from the first block, or resumes execution of a stopped

program.

Single block

Executes the program one block at a time.

Pause T

emporarily halts program execution.

Forced block end Forcibly ends execution of a block.

Error reset Clears error status.

M code reset

Resets the M code (for interlock).

Teaching

Creates position data for each task.

Auxiliary

Optional inputs

20 points: Specify input information to be referenced by special G code.

Of the 20 input points, 4 can be specified as general-purpose inputs for the MC Unit.

M code

0 to 999

0 to 499: M code for taking interlock

500 to 999: M code not taking interlock

D code

(interrupt code)

0 to 255

Starts a CPU Unit external interrupt task when positioning is completed or when

passing through a particular position.

Automatic and

Manual Mode

Backlash correction

The amount of correction for backlash in the mechanical system can be registered in

advance.

Error counter reset

Forcibly resets the error counter to 0, and stops axis operation. (Enabled when no

speed reference is provided to the servodriver

Override

Changes the operating speed by applying a specified percentage to the speed

specified in the system parameters or G-language program.

Zones

A zone flag turns ON when the present position enters a preset range.

Unlimited Feed Mode,

unlimited present position

display

Moves the axis with no limit. In this mode, a range for refreshing the present position

can be specified.

Origin search function

The search pattern can be selected to shorten the origin search time. Either a

deceleration stop or accumulated pulse stop can be selected for when a limit input is

received during the origin search.

Trapezoid/S-curve

acceleration and

deceleration

Either trapezoid or S-curve acceleration and deceleration can be specified for starting

and stopping each axis.

Driver alarm reset

Resets the servodriver alarm.

Data transfer

Data is transferred between the CPU Unit and the MC Unit by means of the CPU

Unit’

s IORD and IOWR instructions. There are two modes for transferring data: One

for transferring large amounts of data, and another for rapidly transferring small

amounts of data.

Servo data trace function

Up to 500 data items, including speed reference values, present speed, and error

counter data, can be traced for each axis. This data can be referenced by CX-Motion.

Motion Control Units Product Specifications

Comparison with Earlier MC Unit Model

The

following table shows the points of dif

ference between the CS1W

-MC221/MC421 and C200H-MC221 MC Units.

Item CS1W-MC221/MC421 C200H-MC221

Number of control axes

2 or 4 axes

2 axes only

Binary indications

All binary (present position, program

number

, block number

, M code, override,

error code)

BCD

Encoder response frequency

500 kp/s (before multiplication) 250 kp/s (before multiplication)

Encoder pulse ratio

1, 2, or 4 times

4 times only

Program capacity

2,000 blocks

800 blocks

Acceleration/deceleration time

0 to 100.000 s

0 to 9.999 s

Speed reference range

1 pps to 2,000 kp/s 1 pps to 1,000 kp/s

Start time

2-axis Units: 8 ms max.

4-axis Units: 12 ms max. 2-axis Units: 12 ms max.

Note: Two-axis MC Unit:

This function applies to the X axis when a 2-axis, 1-task configuration is used.

Four-axis MC Unit:

This function applies to the X axis when a 4-axis, 1-task configuration is used.

Optional inputs

Optional No. 0 to 15: Inputs from CPU Unit

Optional No. 16 to 19: General inputs 1 to 4

Optional No. 0 to 4: Inputs from CPU Unit

Optional No. 5 and 6: General inputs 1 and

General outputs, brake signal outputs

Four output signals are provided, and can

be selected.

No output signals are provided.

MPG signals

500 kp/s max. (before pulse ratio of 1, 2, or

Y axis instead of MPG

Circular interpolation (G02, G03)

Multiturn circular interpolation can be set.

Within one turn only

Helical circular interpolation

With 4-axis Units, 2-axis circular

interpolation on a plane + 1-axis feed

control is possible.

Not supported.

raverse command (G32)

A 2-axis traverse operation is available,

with a traverse time of 4 ms max.

Not supported.

Unlimited Feed Mode

Unlimited feeding can be either specified or

not specified for an axis. (The software limit

is ignored.)

Cannot be specified.

Present position display for unlimited

feeding

When unlimited feeding is specified for an

axis, the software limit is ignored. The

present position refresh range can be set.

Not supported.

Interrupt feeding (G31) Positioning is possible even without

any interrupt signal. Speed control remains in effect when

there is no interrupt signal.

Override The feed rate can be changed during

G00, G01, G02, G03, G26, G27, G30,

G31, and G32 operations (except for

pass operations).

The feed rate cannot be changed

during operation.

Backlash setting range 0 to 10,000 pulses 0 to 999 pulses

In-position setting range 0 to 10,000 pulses 0 to 999 pulses

Zone setting Conditions for using zones:

Use only when origin is determined, or

regardless of whether or not origin is

determined.

The initial setting is for zones to be

used only when the origin is

established.

Use regardless of whether or not the

origin is established.

Origin search Can be executed even when an

absolute encoder is used.

Parameter can be set to shorten origin

search time.

Either deceleration stop or

accumulated pulse stop can be

selected for when CW or CCW limit is

detected.

Cannot be executed when an absolute

encoder is used.

Not possible to select deceleration

stop or accumulated pulse stop for

when CW or CCW limit is detected.

Forced origin Present position can be forcibly set to

0, and established as the origin. (In an

absolute encoder system, only the MC

Unit’s present position is set to 0.)

The present position is set to 0 by the

present position preset function.

Product Specifications Motion Control Units

Item C200H-MC221CS1W-MC221/MC421

Absolute encoder origin setting The absolute encoder origin can be

set even while servo-lock is in effect. Origin is set by either the

absolute-value initial setting or the

absolute-value software reset

function. (It cannot be set while

servo-lock is in effect.)

Electronic gear function The numerator and denominator can

be set. Integers only

IN-POSITION CHECK OFF command

(G13) After a positioning command output

has been completed, this command

lets the next operation start without

waiting for positioning to be

completed.

Not supported.

Error counter reset The error counter can be reset for

each axis. Not supported.

D code (interrupt code) Can be used for notifying of the CPU

Unit of interrupts. Not supported.

Stopover function (Code output during

axis movement) An M code or D code can be output

after a fixed amount of axis movement

during operation.

Not supported.

Acceleration/deceleration time setting

for pass operations Either the acceleration or deceleration

time of the previous operation can be

selected for pass operations.

Pass operations are executed with the

acceleration time.

Fixed acceleration mode for pass

operations A fixed acceleration mode is added for

when pass operations are executed

for one axis only.

Fixed acceleration time mode only

Servo system parameter changes

(G code: G69) Servo system parameters can be

changed by a G code. Not supported.

Servo-lock There is a brake signal timing

adjustment function. There is no brake signal timing

adjustment function.

Servo-unlock There is a brake signal timing

adjustment function. Servo-unlock can

be used at any time.

There is no brake signal timing

adjustment function. Servo-unlock

cannot be used while other manual

commands are being executed.

Error log Up to 20 items can be saved. Not supported.

Absolute value initial setting Integrated with absolute origin setting. Not supported.

Absolute value software reset

ggg

Not supported.

MPG Operating Flag Busy signal is used instead. Not supported.

Servo data trace function Traces servo data. Can be used with

CX-Motion. Not supported.

Data transfer method All data is transferred using IORD or

IOWR. Data is transferred by means of either

I/O transfers or IORD/IOWR.

Present position preset Executed by IOWR. Executed by special interrupt bit.

Setting teaching address Executed by IOWR. Executed by special interrupt bit.

Saving to flash memory Executed by IOWR. Executed by special interrupt bit.

Emergency stop method Stopped by accumulated pulse

method or by operation command

output turning OFF after a 0 V output.

Stop by turning OFF operation

command output.

Automatic loading G-language programs and position

data are downloaded from a personal

computer by means of commands

from the CPU Unit, used in

combination with CX-Motion.

Not supported.

Motion Control Units Product Specifications

Performance

The

following table shows the typical values of each performance item. These values, however, vary according to the task configuration, axis

configuration,

and so on. For details, refer to the

Motion Control Units Operation Manual

(W359-E1-1).

Item T

ypical value

Description

Power ON startup time

verage: 600 ms

ime from turning ON the power until

manual operation commands are accepted.

Cyclic service time CS1W-MC221:

0.8 ms/Unit

CS1W-MC421:

0.85 ms/Unit

ime by which the CPU Unit cycle time will

be extended per MC Unit.

IOWR execution time

0.7 ms/instruction

ime by which the cycle time will be

extended when IOWR is executed.

IORD execution time

0.8 ms/instruction

ime by which the cycle time will be

extended when IORD is executed.

Data write time

475 ms/1,000 words

ime from when IOWR is executed until

data transfer is completed.

Data read time

470 ms/1,000 words

ime from when IORD is executed until

data transfer is completed.

Operation startup time

CS1W-MC221:

8 ms

CS1W-MC421:

12 ms

MC221: T

ime for X axis operation with a

1-task, 2-axis configuration.

MC421: T

ime for X axis operation with a

1-task, 4-axis configuration.

Analog voltage output time lag per axis for

interpolation CS1W-MC221:

150

µs

CS1W-MC421:

210

µsT

ime delay when interpolation is performed

for 1 task.

Analog voltage output time lag per axis for

independent operation

CS1W-MC221: 4.3 ms/axis

CS1W-MC421: 4.3 ms/axis T

ime delay when one axis each is started

for all tasks simultaneously

Interrupt notification time

2.25 ms

When C200H

j-series Special I/O Unit is

not mounted.

G language interpretation time

CS1W-MC221:

2.0 ms

CS1W-MC421:

4.2 ms

Interpretation time for G language when

axis movement is not performed.

Minimum operation time

CS1W-MC221:

8.5 ms

CS1W-MC421:

9.5 ms

When the time for linear interpolation is

equal to or less than the values give, Stop

Mode operation will be used even in Pass

Mode or In-Position Check OFF Mode.

Minimum traverse reversal time

2 ms

Reversing operation is possible every 2 ms

for traverse operation.

External input response time

General purpose input:

1 ms max.

Emergency stop input:

4.5 ms max.

CW/CCW limit input:

4.5 ms max.

Origin proximity input:

4.5 ms

Response time to external input signals.

Zone Flag notification time

CS1W-MC221:

14.08 ms

CS1W-MC421:

34.08 ms

The time required for one Zone Flag to

respond.

G Language

Example

Block

number (N000 to N999): Equivalent to a program line number

Program number and axis declaration

G code: 2-digit number following “G” represents a command.

Incremental Specification

Positioning: Moves the X axis by 100 and the Y axis by 50

from the present position, and outputs M code 001 after

positioning has been completed.

N000 P001 XY

N001 G91

N002 G00 X100 Y50 M001

Product Specifications Motion Control Units

Code Name Function

Code

4-axis MCU

2-axis MCU

CS1W-MC221 CS1W-MC421

G00 Positioning

Positions up to 2 or 4 axes simultaneously with PTP control at the maximum

feed rate.

G01

Linear Interpolation

Performs linear interpolation on 1, 2, 3, or 4 axes (1 or 2 axes for MC221).

The specified axes move simultaneously

The feed rate can be specified.

G02

Circular Interpolation (Clockwise)

Performs 2-axis circular interpolation in the clockwise direction at the

specified interpolation feed rate.

G03

Circular Interpolation (Counterclockwise)

Performs 2-axis circular interpolation in the counterclockwise direction at the

specified interpolation feed rate.

G04

Dwell T

imer W

aits for the specified length of time.

G10

Pass Mode

Performs operations one-by-one in sequence without waiting for

deceleration to stop.

G11

Stop Mode

Performs the next operation after completing positioning.

G13 IN-POSITION CHECK OFF MODE

Starts the next operation without waiting for positioning to be completed.

G17

Circular Plane Specification (X-Y)

Sets the X-Y plane as the plane for circular interpolation.

G18 CIRCULAR PLANE SPECIFICATION (X-Z)

Sets the X-Z plane as the plane for circular interpolation.

G19 CIRCULAR PLANE SPECIFICATION (Y-Z)

Sets the Y

-Z plane as the plane for circular interpolation.

G20 CIRCULAR PLANE SPECIFICATION (X-U)

Sets the X-U plane as the plane for circular interpolation.

G21 CIRCULAR PLANE SPECIFICATION (Y-U)

Sets the Y

-U plane as the plane for circular interpolation.

G22 CIRCULAR PLANE SPECIFICATION (Z-U)

Sets the Z-U plane as the plane for circular interpolation.

G26

Reference Origin Return

Moves to the reference origin.

G27 W

orkpiece Origin Return

Moves to the workpiece origin.

G28

Origin Search

Performs an origin search on the specified axis.

G29 Origin UNDEFINED

Sets the origin to an undefined state.

G30 SPEED CONTROL

Feeds up to 2 axes simultaneously at the controlled feed rate.

G31 INTERRUPT FEEDING

Performs an interrupt feeding operation.

G32 traverse

Executes traverse operation.

G50

Select Reference Coordinate System Specifies the reference coordinate system.

G51

Select W

orkpiece Coordinate System

Specifies the workpiece coordinate system.

G53

Change W

orkpiece Origin Of

fset

Changes the origin of the workpiece coordinate system.

G54

Change Reference Coordinate System PV

Changes the present value in the reference coordinate system.

G60

Arithmetic Operations

Performs arithmetic operations on numerical values, position data, and

registers.

G63 Substitution

Substitutes numerical values, position data, or registers into other position

data or registers.

G69

Change Parameter

Changes the specified parameter

G70

Unconditional Jump

Unconditionally jumps to the specified block.

G71

Conditional Jump

Jumps to the specified block when the condition is met.

G72

Subroutine Jump

Calls the specified subroutine.

G73

Subroutine End

Ends the subroutine.

G74

Optional End

Ends the block currently being executed when the specified optional input is

ON.

G75

Optional Skip Skips the block after this command when the specified optional input is ON.

G76

Optional Program Stop

Pauses the program when the specified optional input is ON.

G79

Program End

Ends the main program.

G90

Absolute Specification Positions with absolute coordinates when performing axis operations.

G91

Incremental Specification

Positions with relative coordinates when performing axis operations.

Auxiliary Codes

Code Name Function

Code

4-axis MCU

2-axis MCU

CS1W-MC221 CS1W-MC421

M code Outputs an M code.

D D code

Starts an external interrupt task for the CPU Unit.

Motion Control Units Product Specifications

System Configuration

Control System

Semi-closed

Loop System

MC Unit

Analog output

Servodriver

Servomotor

Tachogenerator

Rotary encoder

Feedback pulses and

present value information

(for absolute encoders)

Connected Configuration

Teaching Box

MPG or

synchronous

encoder MC Unit

(Example: CS1W-MC421)

MPG connector

DRV X, Y

connectors

CPU Unit

Power Supply Unit

For connection to peripheral port on CPU

Unit: CS1W-CNjjj

For connection to RS-232C port on CPU

Unit: XW2Z-j00S(-CV)

Servodriver Connecting

Cable (for U/H/M-series) or

user-prepared cable

Servodriver

Servomotor

CS1W-MC421:

4 axes

CS1W-MC221:

2 axes

MC Unit Terminal Block

CS1W-MC421: XW2B-40J6-7

CS1W-MC221: XW2B-20J6-6

I/O connector

DRV Z, U connectors

XW2Z-100J-F1 MC Unit Terminal

Block Connecting Cable or

user-prepared cable

CCW limit input

CW limit input

Origin proximity input

Emergency stop input

for 4 or 2 axes

General-purpose inputs (4)

General-purpose outputs (4)

Servodriver

Servomotor

Product Specifications Motion Control Units

Exchanging Data

CS1

CIO Area Words

Unit #0

Unit #1

Unit #2

Unit #3

Unit #90

Unit #91

Unit #92

Unit #93

Unit #94

Unit #95

Reserved

CS1W-MC221

Data Memory Area

(Allocated areas are not used)

Data

Data transfer words

IOWR/IORD instructions

Transferred to each Unit during I/O refresh

I/O Refresh Data Area

OUT refresh

IN refresh

Reserved

A total of 50 words used.

n: 2000 + 10 × unit number

Internal memory

Address Position data

System parameters

Monitor information

Special information

Data saved. When powered

or restarted.

Flash memory

G-language program

CS1

CS1W-MC421

CIO Area Words

Unit #0

Unit #1

Unit #2

Unit #3

Unit #90

Unit #91

Unit #92

Unit #93

Unit #94

Unit #95

Reserved

Data Memory Area

(Allocated areas are not used)

Data

Data transfer words

IOWR/IORD instructions

Transferred to each Unit during I/O refresh

I/O Refresh Data Area

OUT refresh

IN refresh

Reserved

A total of 30 words used.

n: 2000 + 10 × unit number

Internal memory

Address Position data

System parameters

Monitor information

Special information

Data saved.

At startup or

when restarted.

Flash memory

G-language program

Reserved

2000 to 2029

2010 to 2039

2020 to 2049

2030 to 2059

n to n+29

2900 to 2929

2910 to 2939

2920 to 2949

2930 to 2959

2000 to 2049

2010 to 2059

2020 to 2069

2030 to 2079

n to n+49

2900 to 2949

2910 to 2959

Motion Control Units Product Specifications

Component Names

CS1W-MC221 CS1W-MC421

LED indicators LED indicators

Unit number setting switch Unit number setting switch

DRV X-Y connector

10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

I/O connector

Teaching Box

connector

I/O connector

Teaching Box

connector

MPG connector

DRV X-Y connector

10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

DRV Z-U connector

10126-3000VE Connector

(Sumitomo 3M)

10326-52F0-008 Connector cover

(Sumitomo 3M)

(This unit is provided with 2 sets.)

Indicators

Indicator Color Status Meaning

RUN Green ON The

MC Unit is operating normally

Gee

OFF

The MC Unit is not recognized by the PC or is

malfunctioning.

ERC Red ON

An error occurred in the MC Unit.

OFF

The MC Unit is operating normally

ERH Red ON

An error occurred in the CPU Unit.

OFF

The CPU Unit is operating normally

XCCW

YCCW

ZCCW (See note.)

UCCW (S t )

Yellow ON

The motor for the applicable axis is turning in the CCW

direction. (The X to U axes correspond to XCCW to

UCCW.)

()

UCCW (See note.)

OFF

The applicable axis is stopped or is turning in the CW

direction.

XCW

YCW

ZCW (S t )

Yellow ON

The motor for the applicable axis is turning in the CW

direction. (The X to U axes correspond to XCW to UCW

ZCW (See note.)

UCW (See note.)

OFF

The applicable axis is stopped or is turning in the CCW

direction.

Note:

The CS1W

-MC221 does not have the ZCCW

, UCCW, ZCW

, and UCW indicators.

Product Specifications Motion Control Units

I/O Connector Wiring

I/O Connector

Snap-on

Connector

Connector: 10126-3000VE (provided with the Unit, manufactured by Sumitomo 3M)

Case: 10326-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

CS1W-MC221

Pin Symbol T

erminal on

MC Unit

terminal block

Name Function

+24 V

24-VDC input

Connects to the + terminal of the

24-VDC external power supply

2 XCWL (NC) 11 X-axis CW limit

input

Limits movement of the X axis in

the CW direction.

3 YCWL (NC) 16 Y

-axis CW limit

input

Limits movement of the Y axis in

the CW direction.

4 XCCWL (NC) 12 X-axis CCW

limit input

Limits movement of the X axis in

the CCW direction.

5 YCCWL (NC) 17 Y-axis CCW

limit input

Limits movement of the Y axis in

the CCW direction.

6XSTOP (NC) 14 X-axis

emergency

stop input

Disables the X-axis run output

and stops it.

7YSTOP (NC) 8 Y-axis

emergency

stop input

Disables the Y

-axis run output

and stops it.

8 IN1 (NO) 4

General input 1 General input 1

9 IN2 (NO) 9

General input 2 General input 2

10 XORG (NC,

NO)

(See note 1)

X-axis origin

proximity input

Used for the X-axis origin

search.

11 YORG (NC,

NO)

(See note 1)

18 Y

-axis origin

proximity input

Used for the Y

-axis origin

search.

12 OUT1 (See

note 3)

General output

General output 1 or X-axis brake

signal output

13 OUT2 (See

note 3)

General output

General output 2 or Y

-axis brake

signal output

14 DC GND 0

24-VDC input

ground

Connects to the – terminal (0 V)

of the 24-VDC external power

supply.

15 --- ---

16 MPG-A

See note 2

MPG input

phase A

MPG input

phase A

See note 1

17 MPG-B

See note 2

MPG input

phase B

MPG input

phase B

18 MPG-A

See note 2

MPG input

phase A

MPG input

phase A

19 MPG-B

See note 2

MPG input

phase B

MPG input

phase B

20 --- ---

21 IN3 (NO)

See note 2

General input 3 General input 3

22 IN4 (NO)

See note 2

General input 4 General input 4

23 --- ---

24 --- ---

25 OUT3

See note 2

General output

General output 3

26 OUT4

See note 2

General output

General output 4

“NC” stands for normally closed and “NO” stands for normally open.

Note: 1. For

the CS1W

-MC221, connect the MPG to this I/O connector

. For the connection method, refer to

MPG

Connection Example

on page

23.

MPG inputs, and general outputs 3 and 4 cannot be connected from the terminal block.

CS1W-MC221

Motion Control Units Product Specifications

CS1W-MC421

Pin Symbol Terminal

on MC

Unit terminal

block

Name Function

+24 V

24-VDC input

Connects to the + terminal of

the 24-VDC external power

supply.

2 XCWL (NC) 21 X-axis CW limit

input

Limits movement of the X axis

in the CW direction.

3 YCWL (NC) 26 Y

-axis CW limit

input

Limits movement of the Y axis

in the CW direction.

4 XCCWL (NC) 22 X-axis CCW

limit input

Limits movement of the X axis

in the CCW direction.

5 YCCWL (NC) 27 Y-axis CCW

limit input

Limits movement of the Y axis

in the CCW direction.

6XSTOP (NC) 24 X-axis

emergency

stop input

Disables the X-axis run output

and stops it.

7YSTOP (NC) 8 Y-axis

emergency

stop input

Disables the Y

-axis run output

and stops it.

8 IN1 (NO) 4

General input 1 General input 1

9 IN2 (NO) 9

General input 2 General input 2

10 XORG (NC, NO)

(See note 1)

X-axis origin

proximity input

Used for the X-axis origin

search.

11 YORG (NC, NO)

(See note 1)

28 Y

-axis origin

proximity input

Used for the Y

-axis origin

search.

OUT1 (See note 2)

General output

General output 1 or X-axis

brake signal output

OUT2 (See note 2)

General output

General output 2 or Y

-axis

brake signal output

14 DC GND 0

24-VDC input

ground

Connects to the – terminal (0

V) of the 24-VDC external

power supply

15 ZCWL (NC)

31 (See note 5)

Z-axis CW limit

input

Limits movement of the Z axis

in the CW direction.

16 UCWL (NC)

36 (See note 3)

U-axis CW limit

input

Limits movement of the U axis

in the CW direction.

17 ZCCWL (NC)

32 (See note 3)

Z-axis CCW

limit input

Limits movement of the Z axis

in the CCW direction.

18 UCCWL (NC)

37 (See note 3)

U-axis CCW

limit input

Limits movement of the U axis

in the CCW direction.

19 ZSTOP (NC)

34 (See note 3)

Z-axis

emergency

stop input

Disables the Z-axis run output

and stops it.

20 USTOP (NC)

18 (See note 5)

U-axis

emergency

stop input

Disables the U-axis run output

and stops it.

21 IN3 (NO)

14 (See note 4)

General input 3 General input 3

22 IN4 (NO)

19 (See note 4)

General input 4 General input 4

23 ZORG (NC, NO)

(See note 1)

33 (See note 5)

Z-axis origin

proximity input

Used for the Z-axis origin

search.

24 UORG (NC, NO)

(See note 1)

38 (See note 5)

U-axis origin

proximity input

Used for the U-axis origin

search.

25 OUT3

35 (See note 4) General output

General output 3

26 OUT4

39 (See note 4) General output

General output 4

“NC” stands for normally closed and “NO” stands for normally open.

3. When the CS1W-MC221 and the XW2B-40J6-7 are connected, these terminals will be used as

MPG

inputs.

4. When

the CS1W

-MC221

and the XW2B-40J6-7 are connected, these terminals will be allocated as

general

inputs/outputs 3 and 4.

When the CS1W-MC221 and the XW2B-40J6-7 are connected, these

terminals will not be used.

CS1W-MC421

Product Specifications Motion Control Units

External Connection Diagram

Using

the Connector

I/O connector

+24 V input

X-axis CW limit input

Y-axis CW limit input

X-axis CCW limit input

Y-axis CCW limit input

X-axis emergency stop input

Y-axis emergency stop input

General-purpose input 1

General-purpose input 2

X-axis origin proximity input

Y-axis origin proximity input

24-V input GND

Example:

X-axis W

iring

Emergency

stop input

CCW

limit

input

limit input

24 VDC

Origin

proximity

input

Connector:

Wire

and assemble the connector by

using the connector case provided with

the Unit or by using the XW2Z-100J-F1

MC Unit T

erminal Block Connecting

Cable.

–

Using the MC Unit T

erminal Block

XW2Z-100J-F1 MC Unit Terminal Block Cable

MC Unit Terminal Block

CS1W-MC221: XW2B-20J6-6

CS1W-MC421: XW2B-40J6-7

X-axis CW, CCW, origin proximity, and emergency stop

Y-axis CW, CCW, origin proximity, and emergency stop

XW2B-20J6-6

MC Unit Terminal Block

Example:

X-axis W

iring

24 VDC Emerg

ency

stop

input

CCW

limit

input

limit

input

Origin

proxim

ity

input

24-VDC input ground

General input 1

24-VDC input

X-axis CW limit input

Y-axis CW limit input

X-axis CCW limit input

Y-axis CCW limit input

X-axis emergency stop input

Y-axis emergency stop input

General input 2

X-axis origin proximity input

Y-axis origin proximity input

–

Motion Control Units Product Specifications

DRV Connector Wiring

DRV X-Y and Z-U Connectors

The

V connectors are used primarily to connect servodrivers. The DR

V X-Y connector is for the X and Y axes, and the DR

V Z-U connector is

for

the Z and U axes.

Special driver cables, which are sold separately

, are available for OMRON U-, H-, and M-series Servodrivers.

Snap-on Connectors

Connector: 10136-3000VE (provided with the Unit, manufactured by Sumitomo 3M)

Case: 10336-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

CS1W-MC221

Pin Symbol Name Function

+24 V

24 VDC input

External power supply’

s 24-VDC

input (for the X-Y axes)

2DC GND

24 VDC input ground

External power supply’

s 24-VDC

ground (for the X-Y axes)

3 XALM

X-axis alarm input

Driver alarm input for the X-axis

4 XRUN

X-axis run output Driver run output for the X-axis

5 XALMRS

X-axis alarm reset

output

Reset output for the X-axis’

s driver

alarm.

6 --- ---

Not used.

7 --- ---

Not used.

8 XSGND X-axis SEN signal

ground

SEN signal ground for the X-axis

9 XSOUT X-axis SEN signal

output

SEN signal output for the X-axis

(absolute encoder driver)

10 X-GND

X-axis feedback ground

Feedback ground for the X-axis

11 X-A

X-axis phase A input

Phase A feedback input for the X-axis

12 X-A X-axis phase A

input

Phase A

feedback input for the X-axis

13 X-B

X-axis phase B input

Phase B feedback input for the X-axis

14 X-B X-axis phase B

input

Phase B

feedback input for the X-axis

15 X-Z

X-axis phase Z input Phase Z feedback input for the X-axis

16 X-Z X-axis phase Z

input

Phase Z

feedback input for the X-axis

17 XOUT

X-axis speed control

Speed control voltage to the X-axis

driver

18 XAGND

X-axis speed control

ground

Ground for the X-axis’

s speed control

voltage

19 +F24V

24 VDC output

24-VDC input to the driver (for the

X-Y axes)

20 FDC GND

24 VDC output ground

Ground for 24-VDC outputs (for the

X-Y axes)

21 YALM Y

-axis alarm input

Driver alarm input for the Y

-axis

22 YRUN Y

-axis run output

Driver run output for the Y

-axis

23 YALMRS Y

-axis alarm reset

output

Reset output for the Y

-axis’s driver

alarm.

24 --- ---

Not used.

25 --- ---

Not used.

26 YSGND Y-axis SEN signal

ground

SEN signal ground for the Y

-axis

27 YSOUT Y-axis SEN signal

output

SEN signal output for the Y

-axis

(absolute encoder driver)

28 Y-GND Y

-axis feedback ground

Feedback ground for the Y

-axis

29 Y-A Y

-axis phase A input

Phase A feedback input for the Y

-axis

30 Y-A Y-axis phase A

input

Phase A

feedback input for the Y

-axis

31 Y-B Y

-axis phase B input

Phase B feedback input for the Y

-axis

32 Y-B Y-axis phase B

input

Phase B

feedback input for the Y

-axis

33 Y-Z Y

-axis phase Z input

Phase Z feedback input for the Y

-axis

34 Y-Z Y-axis phase Z

input

Phase Z

feedback input for the Y

-axis

35 YOUT Y

-axis speed control

Speed control voltage to the Y

-axis

driver

36 YAGND Y

-axis speed control

ground

Ground for the Y

-axis’

s speed control

voltage

CS1W-MC221

Product Specifications Motion Control Units

CS1W-MC421

Pin Symbol Name Function

1 +24

24 VDC input

External power supply’

s 24-VDC input (for

the Z-U axes)

2DC GND

24 VDC input

ground

External power supply’

s 24-VDC ground

(for the Z-U axes)

3 ZALM

Z-axis alarm input

Driver alarm input for the Z-axis

4 ZRUN

Z-axis run output

Driver run output for the Z-axis

5 ZALMRS

Z-axis alarm reset

output

Reset output for the Z-axis’

s driver alarm.

6 --- ---

Not used.

7 --- ---

Not used.

8 ZSGND Z-axis SEN signal

ground

SEN signal ground for the Z-axis

9 ZSOUT Z-axis SEN signal

output

SEN signal output for the Z-axis (absolute

encoder driver)

10 Z-GND Z-axis feedback

ground

Feedback ground for the Z-axis

11 Z-A

Z-axis phase A input Phase A feedback input for the Z-axis

12 Z-A Z-axis phase A

input

Phase A

feedback input for the Z-axis

13 Z-B

Z-axis phase B input Phase B feedback input for the Z-axis

14 Z-B Z-axis phase B

input

Phase B

feedback input for the Z-axis

15 Z-Z

Z-axis phase Z input Phase Z feedback input for the Z-axis

16 Z-Z Z-axis phase Z

input

Phase Z

feedback input for the Z-axis

17 ZOUT

Z-axis speed control

Speed control voltage to the Z-axis driver

18 ZAGND

Z-axis speed control

ground

Ground for the Z-axis’

s speed control

voltage

19 +F24V

24 VDC output

24-VDC input to the driver (for the Z-U

axes)

20 FDC GND

24 VDC output

ground

Ground for 24-VDC outputs (for the Z-U

axes)

21 UALM

U-axis alarm input Driver alarm input for the U-axis

22 URUN

U-axis run output Driver run output for the U-axis

23 UALMRS U-axis alarm reset

output

Reset output for the U-axis’

s driver alarm.

24 --- ---

Not used.

25 --- ---

Not used.

26 USGND U-axis SEN signal

ground

SEN signal ground for the U-axis

27 USOUT U-axis SEN signal

output

SEN signal output for the U-axis (absolute

encoder driver)

28 U-GND U-axis feedback

ground

Feedback ground for the U-axis

29 U-A U-axis phase A

input

Phase A feedback input for the U-axis

30 U-A U-axis phase A

input

Phase A

feedback input for the U-axis

31 U-B U-axis phase B

input

Phase B feedback input for the U-axis

32 U-B U-axis phase B

input

Phase B

feedback input for the U-axis

33 U-Z U-axis phase Z

input

Phase Z feedback input for the U-axis

34 U-Z U-axis phase Z

input

Phase Z

feedback input for the U-axis

35 UOUT U-axis speed control

Speed control voltage to the U-axis driver

36 UAGND U-axis speed control

ground

Ground for the U-axis’s speed control

voltage

CS1W-MC421

Motion Control Units Product Specifications

Servodriver Cables (Optional)

When using OMRON’s U-, H-, or M-series Servodrivers, use Special Servodriver Cables that are

available

as options to connect the MC Unit to Servodrivers.

Series

Cable model number

Length (m)

Se es

For two axes

For single axis

eg ( )

U-series R88D-U

for 30-W to

R88A-CPU001M2 R88A-CPU001M1 1.0

for

30 W

750-W

Servodrivers R88A-CPU002M2 R88A-CPU002M1 2.0

R88D-U

for 1-W to

R88A-CPUB001M2 R88A-CPUB001M1 1.0

for

5-kW

Servodrivers R88A-CPUB002M2 R88A-CPUB002M1 2.0

H-series R88D-H R88A-CPH001M2 R88A-CPH001M1 1.0

se es

R88A-CPH002M2 R88A-CPH002M1 2.0

M-series R88D-M R88A-CPM001M2 R88A-CPM001M1 1.0

se es

R88A-CPM002M2 R88A-CPM002M1 2.0

Connect to a battery when using the

absolute encoder.

Connect to +24 V

Servodriver

Servodriver Connect to +24 V Connect to +24 V

U-series Servodrivers:

R88A-CPU001M2/002M2 (30 to 750 W)

R88A-CPUB001M2/002M2 (1 to 5 kW)

H-series Servodrivers:

R88A-CPH001M2/002M2 M-series Servodrivers:

R88A-CPM001M2/002M2

DRV X-Y

connector DRV X-Y

connector

Servodriver

DRV X-Y

connector

Connector:

When

the Special Cables shown on

the left are not to be used, wire and

assemble the connector by using

the connector case provided with

the Unit.

Product Specifications Motion Control Units

Connection Examples

Connection

to U-series (30-W to 750-W) Models (Using an Absolute Encoder)

Special Driver Cable: R88A-CPU00

jM2

24-VDC output ground

DRV X-Y connector

MC Unit

AC Servodriver

R88D-UAjjj

DC Power Supply

Red

Black CN1

Y-axis speed control ground

AC Servodriver

R88D-UAjjj

Battery

(+2.8 to 4.5 V)

+24V

Red

Black

Battery

(+2.8 to 4.5 V)

Red

Black

+24V

–A

–B

–Z

–A

–B

–Z

24-VDC input

24-VDC input ground

X-axis alarm input

X-axis run output

X-axis alarm reset output

X-axis SEN signal ground

X-axis SEN signal output

X-axis feedback ground

X-axis phase A input

X-axis phase B input

X-axis phase Z input

X-axis speed control

X-axis speed control ground

24-VDC output

Y-axis alarm input

Y-axis run output

Y-axis alarm reset output

Y-axis SEN signal ground

Y-axis feedback ground

Y-axis phase A input

Y-axis phase B input

Y-axis phase Z input

Y-axis speed control

Y-axis SEN signal output

MPG Connector Wiring

MPG Connector (for CS1W-MC421 Only)

The

MPG connector is used to connect a manual pulse generator (MPG). With the CS1W

-MC421, it is wired with an MPG connector

. With the

CS1W-MC221,

there is an MPG terminal on the I/O connector

Manual Pulse Generator (MPG)

Use

a line driver model for the MPG. The LGF-003-100 (by Sumtak) is recommended.

Snap-on Connectors

Connector: 101

14-3000VE (provided with the Unit, manufactured by Sumitomo 3M)

Case: 10314-52F0-008 (provided with the Unit, manufactured by Sumitomo 3M)

Pin Symbol Name

5 MPG-A

MPG input phase A

6 MPG-A

MPG input phase A

12 MPG-B

MPG input phase B

13 MPG-B

MPG input phase B

CS1W-MC421

Motion Control Units Product Specifications

MPG Connection Example

CS1W-MC421

MPG connector

MPG input phase A

MPG input phase B

5 VDC

Power

supply

MPG (LGF-003-100)

CS1W-MC221

I/O connector

MPG input phase A

MPG input phase B

MPG (LGF-003-100)

Note: For the CS1W-MC221, use the I/O connector.

–

5 VDC

Power

supply

–

ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.

convert millimeters into inches, multiply by 0.03937. T

o convert grams into ounces, multiply by 0.03527.

OMRON Corporation

Systems Components Division

66 Matsumoto

Mishima-city

, Shizuoka 41

1-851

Japan

el: (81)559-77-9633

Fax: (81)559-77-9097

Regional Headquarters

OMRON EUROPE B.V.

egalaan 67-69, NL-2132 JD Hoofddorp

The Netherlands

el: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS, INC.

1 East Commerce Drive, Schaumburg, IL 60173

U.S.A.

el: (1)847-843-7900/Fax: (1)847-843-8568

OMRON ASIA PACIFIC PTE. LTD.

83 Clemenceau Avenue,

1-01, UE Square,

Singapore 239920

el: (65)835-301

1/Fax: (65)835-271

Authorized Distributor:

Note:

Specifications subject to change without notice.

Cat.

No. R062-E1-1

Printed in Japan

0100-0.7M