C200H-CP114 Cam Positioner Unit: Operation Manual
C200H-CP114 Cam Positioner Unit: Operation Manual
C200H-CP114 Cam Positioner Unit: Operation Manual
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
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.
Reference Indicates supplementary information on related topics that may be of interest
to the user.
1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.
OMRON, 1993
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.
v
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . . 1
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 Basic System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
SECTION 2
Connection and Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2-2 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
SECTION 3
Data Setting Console Operation . . . . . . . . . . . . . . . . . . . . . . 13
3-1 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3-2 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3-3 Data Setting and Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
SECTION 4
PC Memory Allocation and Programming . . . . . . . . . . . . . 25
4-1 Memory Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4-2 Peripheral Device Operations and Data Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4-3 Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
SECTION 5
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
SECTION 5Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Appendices
A Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
B Resolvers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
C Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
vii
About this Manual:
This manual describes the installation and operation of the C200H-CP114 Cam Positioner Unit and
includes the sections described below. Also briefly described is the basic operation and installation of
the C200H–DSC01 Data Setting Console.
Please read this manual carefully and be sure you understand the information provided before
attempting to install and operate the Temperature Control Unit and Data Setting Console.
Section 1 provides Cam Positioner Unit features and describes its basic system configuration.
Section 2 provides information on the connections and settings of the Cam Positioner Unit.
Section 3 provides the basic operating procedures of the Data Setting Console including data settings
and monitoring.
Section 4 provides the C200H@ PC’s memory allocation for the Cam Positioner Unit. Basic program-
ming procedures and examples are also provided.
Section 5 provides possible errors and corrections.
The Appendices provide information on specifications, resolvers, and dimensions.
!WARNING Failure to read and understand the information provided in this manual may result in per-
sonal injury or death, damage to the product, or product failure. Please read each section
in its entirety and be sure you understand the information provided in the section and
related sections before attempting any of the procedures or operations given.
ix
PRECAUTIONS
This section provides general precautions for using the Programmable Controller (PC) and Cam Positioner Unit.
The information contained in this section is important for the safe and reliable application of the Cam Positioner
Unit. You must read this section and understand the information contained before attempting to set up or operate
a PC system and Cam Positioner Unit.
xi
Intended Audience 1
1 Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems
• Personnel in charge of designing FA systems
• Personnel in charge of managing FA systems and facilities
2 General Precautions
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 equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for programming and operating the OMRON
Cam Positioner Unit. Be sure to read this manual before attempting to use the
software and keep this manual close at hand for reference during operation.
!WARNING It is extremely important that a PC and all PC Units be used for the specified
purpose and under the specified conditions, especially in applications that can
directly or indirectly affect human life. You must consult with your OMRON
representative before applying a PC System to the above-mentioned applica-
tions.
3 Safety Precautions
!WARNING Do not attempt to take any Unit apart while power is being supplied. Doing so
may result in electric shock.
!WARNING Do not touch any of the terminals or terminal blocks while power is being sup-
plied. Doing so may result in electric shock.
xii
Application Precautions 5
!Caution The operating environment of the PC System can have a large effect on the
longevity and reliability of the system. Improper operating environments can
lead to malfunction, failure, and other unforeseeable problems with the PC
System. Be sure that the operating environment is within the specified condi-
tions at installation and remains within the specified conditions during the life
of the system.
5 Application Precautions
Observe the following precautions when using the PC.
!WARNING Always heed these precautions. Failure to abide by the following precautions
could lead to serious or possibly fatal injury.
• Always connect to a ground of 100 Ω or less when installing the Units. Not
connecting to a ground of 100 Ω or less may result in electric shock.
• Always turn off the power supply to the PC before attempting any of the
following. Not turning off the power supply may result in malfunction or
electric shock.
• Mounting or dismounting I/O Units, Power Supply Units, CPU Units,
Memory Cassettes, or any other Units.
• Assembling the Units.
• Setting DIP switch or rotary switches.
• Connecting or wiring the cables.
• Connecting or disconnecting the connectors.
!Caution Failure to abide by the following precautions could lead to faulty operation of
the PC or the system, or could damage the PC or PC Units. Always heed
these precautions.
xiii
Application Precautions 5
• Do not apply voltages to the Input Units in excess of the rated input volt-
age. Excess voltages may result in burning.
• Do not apply voltages or connect loads to the Output Units in excess of
the maximum switching capacity. Excess voltage or loads may result in
burning.
• Install external breakers and take other safety measures against short-cir-
cuiting in external wiring. Insufficient safety measures against short-cir-
cuiting may result in burning.
• Disconnect the functional ground terminal when performing withstand
voltage tests. Not disconnecting the functional ground terminal may result
in burning.
• Do not attempt to disassemble, repair, or modify any Units.
• Be sure that all the mounting screws, terminal screws, and cable connec-
tor screws are tightened to the torque specified in the relevant manuals.
Incorrect tightening torque may result in malfunction.
• Leave the label attached to the Unit when wiring. Removing the label may
result in malfunction if foreign matter such as wire cuttings enter the Unit.
• Remove the label after the completion of wiring to ensure proper heat dis-
sipation. Leaving the label attached may result in malfunction.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
• Double-check all the wiring before turning on the power supply. Incorrect
wiring may result in burning.
• Wire all connections correctly.
• Mount the Unit only after checking the terminal block completely.
• Be sure that the terminal blocks, Memory Units, expansion cables, and
other items with locking devices are properly locked into place. Improper
locking may result in malfunction.
• Check the user program for proper execution before actually running it on
the Unit. Not checking the program may result in an unexpected opera-
tion.
• 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.
• Changing the operating mode of the PC.
• Force-setting/force-resetting any bit in memory.
• Changing the present value of any word or any set value in memory.
• Resume operation only after transferring to the new CPU Unit the con-
tents of the DM Area, HR Area, and other data required for resuming
operation. Not doing so may result in an unexpected operation.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables or other wiring lines. Doing so
may break the cables.
• Before touching the Unit, be sure to first touch a grounded metallic object
in order to discharge any static built-up. Not doing so may result in mal-
function or damage.
• Install the Units properly as specified in the operation manuals. Improper
installation of the Units may result in malfunction.
xiv
SECTION 1
Features and System Configuration
This section provides Cam Positioner Unit features and describes its basic system configuration.
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 Basic System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1
Features Section 1-1
1-1 Features
The Cam Positioner Unit detects angles of rotation by means of a connected
resolver and provides cam outputs with preset ON/OFF angle data.
Numerous Cam Outputs A maximum of 48 cam outputs (16 internal/external and 32 internal) are avail-
and Set Data Items able.
A maximum of seven ON/OFF data items can be set for a single cam output.
A maximum of eight banks of cam data can be present, with each bank con-
sisting of 48 cam outputs.
A bank can be selected from the C200H@ by means of either a peripheral tool
such as the Programming Console or the C200H@ user’s program.
Applicable Resolvers Any OMRON-made resolver can be used.
To connect a resolver to the Cam Positioner Unit, use the 20-cm-long auxiliary
connection cable that is provided. When using a resolver with no cable
attached, prepare a cable for the resolver.
Response Accuracy Responds at a maximum angle-detecting cycle of 200 µs (with a sampling fre-
quency of 5 kHz) and at a maximum resolver speed of 800 revolutions per
minute.
An angle unit of 1° is used for cam output control (resolver resolution).
Data Input and Display For inputting data, displaying present values, and so on, use the C200H-
DSC01 Data Setting Console (sold separately).
The display is easy to read and can be panel-mounted.
Data can also be set by means of the C200H @ user’s program.
Easy Adjustment ON/OFF data can be set or altered by actually moving the machine.
Origin adjustment is possible with either the origin adjustment switch on the
front panel of the Cam Positioner Unit or an Origin Adjustment Flag. (Origin
adjustment matches the resolver origin with the mechanical origin.)
Cam Data Can be After debugging and trial operation, the final ON/OFF cam output data can be
Protected protected.
To protect the data, set the protect setting pin to “permitted” and make the set-
ting with the Data Setting Console.
Independent protection is possible for each bank and cam output.
Cam Data Can be Set from It is possible to set cam ON/OFF data and required revolution data for a single
the C200H @ process via the C200H @ (using a peripheral tool such as the Programming
Console, or the user’s program).
2
Basic System Configuration Section 1-2
C200H-CP114
Cam Positioner Unit
3R88L-RS@@@ Resolver
C200H-DSC01
G79-@@@C
Data Setting Console
Connection Cable (1 to 5 m)
Output Devices
3
Basic System Configuration Section 1-2
Number of Units The Cam Positioner Unit belongs to the C200H Special I/O Unit group. A max-
imum of ten Special I/O Units (including PC Link Units) can be mounted on
the CPU Rack, Expansion I/O Rack, and Slave Rack.
Note 1. Refer to the C200H@ PC Operation Manuals or the table below for infor-
mation on which units belong to the Special I/O Unit group.
2. The Units used are limited by the maximum supply current and current
consumption. Refer to the C200H@ PC Operation Manuals.
3. The number of Units used with a Slave Rack is limited by data transmission
considerations, as described below.
Number of Units The number of Special I/O Units used with a Slave Rack is limited by data
Mountable on Slave Rack transmission considerations, as shown in the table below. The numbers in the
table indicate the maximum number of Units of groups A, B, C, or D which can
be used with a single Slave Rack.
A B C D
High-speed Counter Units High-density and Mixed I/O Units Temperature Sensor Input Units Position
Position Control Units (NC111/112) Temperature Control Units Voice Unit Control Unit
ASCII Unit (NC211)
Analog I/O Units
ID Sensor Units
Fuzzy Logic Unit
Cam Positioner Unit
4 units --- --- ---
--- 8 units --- ---
--- --- 6 units ---
--- --- --- 2 units
Note 1. When a combination of Units from groups A, B, C, and D is used, the num-
ber from each group must satisfy both the following equations:
3A + B + 2C + 6D ≤ 12
A+B+C+D≤8
2. Other Units can be added until the total number of units reaches ten. If PC
Link Units are used, the number of Units including the PC Link Units must
not exceed ten.
Precautions The IR area of the C200H Special I/O Unit is allocated according to the setting
of the unit number switch on the front panel, not the address of the slot where
the unit is mounted. Refer to 4-1 Memory Allocation for the allocation of the
memory area.
Leave the 2 slots next to the CPU free. It is not possible to use devices con-
nected to the CPU (such as the Programming Console) if these slots are
occupied.
If the C200H Slave Rack is connected to another SYSMAC model Remote I/O
Master Unit, such as the C120, C500, C1000H, or C2000H, it is not possible
to use a Special I/O Unit with the C200H Slave Rack.
!WARNING Always turn the C200H@ power OFF before connecting or disconnecting a
Unit, terminal block, or output connector.
4
SECTION 2
Connection and Settings
This section provides information on the connections and settings of the Cam Positioner Unit.
5
Nomenclature and Functions Section 2-1
Indicators
Origin adjustment DIP switch (for selection of
switch CW or CWW rotation, protect
setting, and adjustment op-
Resolver eration setting)
connector
Unit number
selector
Operation mode
selector
Rack connector
Data Setting
Console connector
External cam
output connector
Indicator Functions
RUN Lit when the Cam Positioner Unit is in normal operation. Unlit when
an I/O Unit over error or Special I/O Unit error occurs, and Unit
operation stops.
ALM (Alarm) Lit when the Cam Positioner Unit malfunctions.
6
Switch Settings Section 2-2
0
Unit no. Allocated Allocated DM
setting words
0 100 to 109 DM1000 to DM1010
1 110 to 119 DM1100 to DM1110
2 120 to 129 DM1200 to DM1210
3 130 to 139 DM1300 to DM1310
4 140 to 149 DM1400 to DM1410
5 150 to 159 DM1500 to DM1510
6 160 to 169 DM1600 to DM1610
7 170 to 179 DM1700 to DM1710
8 180 to 189 DM1800 to DM1810
9 190 to 199 DM1900 to DM1910
PRG
7
Wiring Section 2-3
DIP Switch
1
2
3
4
If protect setting and adjustment operation setting are permitted (i.e., if pins 2
and 3 are set to OFF), the settings can be made with the Data Setting Con-
sole.
2-3 Wiring
2-3-1 External Cam Output
Connector Wiring Diagram
CN1
B A
NC 12 12 NC
NC 11 11 NC
24 VDC 24 VDC
10 10
COM COM
9 9
16 8
L 8 8 L
L 15 7 L
7 7
L 14 6 L
6 6
24 VDC 13 5 24 VDC
L 5 5 L
12 4
L 4 4 L
11 3
L 3 3 L
10 2
L 2 2 L
9 1
L 1 1 L
8
Wiring Section 2-3
Note 1. Do not connect the load directly until trial operation has been completed.
Instead, connect to a device that will enable monitoring the external cam
output status, such as a G7TC-OC16 I/O Relay Terminal.
2. Be sure to supply power to terminals A10 and B10, or the Data Setting
Console will not operate. Power is supplied to the internal circuit and the
Data Setting Console via these terminals.
3. Although there are internal connections between terminals A9 and B9, and
between A10 and B10, a wire must still be connected to each of these ter-
minals.
The following connector set manufactured by Fujitsu is included with the Unit:
FCN-361J024-AU (soldered connector)
FCN-360C024-J2 (cover)
Circuit Diagram
Internal circuit
+V
OUT
COM
Recommended Cables The following external cam output cables are recommended.
and Output Blocks
Model Cable length
G79-100C 1m
G79-150C 1.5 m
G79-200C 2m
G79-300C 3m
G79-500C 5m
9
Wiring Section 2-3
G7TC-OC16
Output Block
G79-@@@C 24 VDC 2 A
Connection Cable
Surge absorber
DC Surge-absorbing AC RY (Example: Okaya
RY
diode Electric's CR-50500)
Solenoid, etc.
10
Wiring Section 2-3
20 cm
Cam Positioner
Resolver
Unit
1 Sin(+) 1 Sin(+)
2 Sin(−) 2 Sin(−)
3 Cos(+) 3 FG
4 Cos(−) 4 Cos(+)
5 OUT(+) 5 Cos(−)
6 OUT(−) 6 FG
7 --- 7 ---
8 --- 8 ---
Connector 9 FG
case 10 OUT(+)
11 OUT(−)
...
---
15 ---
Connector
case
11
Wiring Section 2-3
39 17.3
17.5 16.1
10
Connection Precautions Tighten the lock screws after inserting the connector into the unit.
Push the connector firmly into the Data Setting Console until the clips fully
lock.
Power is supplied from the Cam Positioner Unit via connection cable. If power
is not supplied between external cam output terminals (A10, B10) and (A9,
B9), the Data Setting Console cannot be operated.
Install the supplied connector cover when the cable is not connected.
12
SECTION 3
Data Setting Console Operation
This section provides the basic operating procedures of the Data Setting Console including data settings and monitoring.
13
Operating Procedure Section 3-1
1,2,3... 1. Set the switches (Refer to 2-2 Switch Settings). Set the front and rear panel
switches according to the operating conditions.
2. Mount the Unit to the Rack. Be careful to turn off the power supply to the
C200H @ before mounting the Cam Positioner Unit to the Rack or removing
it from the Rack.
3. Wire the external cam outputs (Refer to 2-3 Wiring). Until the trial operation
has been completed, do not directly connect a load. Instead, connect to an
object (such as the G7TC-OC16) for which the external cam output status
is known.
4. Connect the resolver and the Data Setting Console (Refer to 2-3-2 Resolv-
er Connection Cable and 2-3-3 Data Setting Console Cables). Use the
specified connection cable for connecting the resolver and the Data Setting
Console.
5. Turn ON the C200H @ and external cam output power supply. Place the
C200H @ in program mode.
6. Set the data with the Data Setting Console. Set the RUN/PRG selector
switch to PRG before setting the data.
7. Set the bank that is to be executed. Set the RUN/PRG selector switch to
RUN. Set the number of the bank to be executed in word n + 1.
(n = 100 + 10 x Unit no.)
8. Turn ON the Operation Flag. Turn ON bit 00 of word n (the Operation Flag).
14
Nomenclature and Functions Section 3-2
Data display
Operation indicators
Cover
Down Key
The bottom row of the operation Keys have upper and lower labels. The upper
labels apply to Temperature Control Unit operation. The lower labels are for
the Cam Positioner Unit.
Two display sheets are supplied: one for the Temperature Control Unit and
one for the Cam Positioner Unit. If the Data Setting Console is to be used with
the Cam Positioner Unit only, stick the display sheet with the lettering corre-
sponding to the lower labels over the original lettering.
Note 1. If 24-VDC power is not supplied between external cam output connector
terminals (A10, B10) and (A9, B9), the Data Setting Console cannot be op-
erated.
15
Nomenclature and Functions Section 3-2
2. If a resolver is not connected, “e10” will blink. Should this occur, follow the
procedure outlined below to turn it off. In any case, data can still be set
even if no resolver is connected. To do that, carry out only d) and e) below.
a) Turn OFF the power supply to the C200H@.
b) Connect a resolver.
c) Turn ON the power supply to the C200H@.
d) Set the operation mode selector to PRG.
e) Press the CLR Key.
3-2-2 Functions
Display Functions
Data Display
Name Function
DATA Depending on the “MODE” setting number, the following data will be displayed.
Data concerning cam output ON/OFF settings, protect settings, and settings for the number of revo-
lutions required for a single process.
The process execution conditions and present cam angle will be displayed.
MODE Modes 1 to 6 will be displayed. The mode that can be selected will vary according to the setting of the
RUN/PRG switch.
When PRG is set:
Mode 3: Cam data setting mode
Mode 4: Protect setting mode (*)
Mode 5: Mode for setting the number of revolutions required for a single process
(*) Cannot be selected when pin 2 of the rear panel DIP switch is ON (i.e., when protection is not
permitted).
When RUN is set:
Mode 1: Mode for setting the number of cycles for the processes to be executed
Mode 2: Present cam angle monitor mode
Mode 6: Adjustment operation mode (*)
(*) Cannot be selected when pin 3 of the rear panel DIP switch is ON (i.e., when adjustment opera-
tion is not permitted).
BK Banks 1 to 8 will be displayed.
In Modes 1, 2, and 6, the number of the bank to be executed will be displayed.
In Mode 5, nothing will be displayed.
CAM Cam output numbers from 1 to 48 will be displayed. These will only be displayed in Modes 3, 4, and 6,
however, and not in Modes 1, 2, and 5. Numbers 1 to 16 are for internal/external cam outputs, and
numbers 17 to 48 are for internal cam outputs.
STEP Step numbers 1 to 7 will be displayed. These will only be displayed in Modes 3 and 6, however, and not
in Modes 1, 2, 4, and 5. Seven ON/OFF settings can be made for each cam output.
Operation Displays
Name Function
ON When this indicator is blinking, the cam angle can be set for when cam output is ON.
OFF When this indicator is blinking, the cam angle can be set for when cam output is OFF.
RUN Lit while the Cam Positioner Unit is in operation. While this indicator is lit, cam outputs will turn ON and
OFF. The procedure for operating the Cam Positioner Unit is as outlined below.
(1) Set the Cam Positioner Unit’s RUN/PRG selector to RUN.
(2) Set banks 1 to 8 at word n + 1.
(3) Turn ON bit 00 of word n (Operation Flag).
(n = 100 + 10 x Unit no.)
ALM1 Lit if the resolver is accidentally disconnected.
ALM2 Lit if any of the following errors occur.
Memory error Bank selection error Power failure error
Communications error Memory load error Parameter error
16
Data Setting and Monitoring Section 3-3
17
Data Setting and Monitoring Section 3-3
Monitor Items
MODE Name Function
1 Monitoring of the number of process execution cycles Displays the number of process execution cycles per
unit time.
2 Monitoring of the present cam angle Monitors the present cam angle of the resolver.
Cam output 1
Cam output 2
Cam output 3
1 revolution
The cam output turns ON at the ON angle and turns OFF at the OFF angle
minus 1°.
Cam outputs turn ON and OFF only when the Cam Positioner Unit is in opera-
tion.
The procedure for operating the Cam Positioner Unit is outlined below.
18
Data Setting and Monitoring Section 3-3
Mode
no.
Step no.
ON angle Cam output no.
OFF Bank no.
angle
19
Data Setting and Monitoring Section 3-3
1,2,3... 1. Follow (1) to (3) of the above procedure to cause the items that are to be
cleared to start blinking.
2. Press the Clear Key twice. When it is pressed the first time, all of the items
to be cleared will start blinking.
When it is pressed the second time, all of the ON/OFF angle data will be
cleared for the items that are blinking. If CAM no. “1” is blinking, for exam-
ple, then the ON/OFF angle data for steps 1 to 7 for cam output no. 1 will
be cleared.
To cancel a clearing operation, press any other key instead of pressing the
Clear Key the second time.
Protect Setting (Mode 4)
---: Not protected
pr%: Protected
20
Data Setting and Monitoring Section 3-3
Mode no.
21
Data Setting and Monitoring Section 3-3
If the mode number is blinking, press the Reverse Key again. The blinking
display will then stay lit and the settings will be complete.
Monitoring of the Number of Process Execution Cycles (Mode 1)
Number of process execution
cycles per unit time
22
Data Setting and Monitoring Section 3-3
When changing the number of the bank to be executed, first make the
change in word n + 1, and then turn the Operation Flag from ON to OFF,
and then ON again.
Monitoring of the Present Cam Angle (Mode 2)
Present cam angle
Mode no.
Step no.
ON angle
Cam output no.
OFF
angle Execution bank no.
23
Data Setting and Monitoring Section 3-3
2. Press the Return Key, the Up Key, or the Down Key to cause the Mode 6
indicator to blink.
Mode 6 cannot be selected when pin 3 of the Cam Positioner Unit’s rear
panel DIP switch is ON (i.e., when adjustment operation is not permitted).
3. From this point on, follow (3) through (6) of the setting procedure for Mode
3.
The number of the bank to be executed will be displayed in BK, so “BK”
cannot be selected.
When changing the number of the bank to be executed, make the setting
in word n + 1 by means of the user’s program or a peripheral device such
as the Programming Console, and then turn bit 00 of word n (the Operation
Flag) from ON to OFF, and then ON again.
Origin Adjustment The term “origin adjustment” refers to the matching of the resolver origin to
the mechanical origin. For example, if the present cam angle is 130° and if
you want this angle position to match the mechanical origin of 0°, then origin
adjustment can be used.
Origin Adjustment Methods
Either of the methods described below can be used for origin adjustment.
When origin adjustment is executed, “7” will blink three times in “MODE,” and
the resolver absolute angle will blink three times in “DATA.” When origin
adjustment is finished, the previous display will be restored.
Press the button on the front panel of the Cam Positioner Unit. The origin
adjustment value will then be written to the EEPROM in the Unit.
or Turn the Origin Adjustment Flag (bit 01 of word n) from OFF to ON.
When the origin adjustment has been completed, turn ON the Origin Ad-
justment Completion Flag (bit 05 of word n + 8). This flag will automatically
turn OFF when the Origin Adjustment Flag turns OFF.
Origin adjustment will be written to the RAM in the Unit according to the
Origin Adjustment Flag.
When entering the origin adjustment, turn the EEPROM Write Flag (bit 02
of word n) from OFF to ON. The origin adjustment value will then be written
to EEPROM.
Note Because there is a limit to the number of times that data can be written to
EEPROM (approx. 10,000 times), the second of the two methods described
above is recommended for origin adjustment.
During resolver rotation, origin adjustment will not be effective even if it is exe-
cuted.
If origin adjustment is attempted while the Unit has an error, the origin adjust-
ment will be executed after the error is cleared.
24
SECTION 4
PC Memory Allocation and Programming
This section provides the C200H @ PC’s memory allocation for the Cam Positioner Unit. Basic programming procedures
and examples are also provided.
25
Memory Allocation Section 4-1
Note A Duplicate I/O Unit error occurs if the set Unit number corresponds to the
number of an existing Special I/O Unit.
DM Number Allocation
C200H@ PC Cam Positioner Unit
Data Memory (DM)
Fixed Data Area
Dedicated DM (Read Only)
DMm For cam data
DM(m+1) setting
Unit #0 DM1000 to 1010
DM(m+2)
Unit #1 DM1100 to 1110
Unit #2 DM1200 to 1210 Including dedicated DM
and general DM, one For setting the
Unit #3 DM1300 to 1310 number of revolu-
word at a time will be
Unit #4 DM1400 to 1410 transmitted during the tions required for
PC's I/O refresh. a single process.
Unit #5 DM1500 to 1510
Unit #6 DM1600 to 1610
Unit #7 DM1700 to 1710
Unit #8 DM1800 to 1810 DM(m+10)
Unit #9 DM1900 to 1910 (m = 1000 + 100 x Unit no.)
General DM
(Read and Write) DMx For cam data
1 data DMx setting
block DM(x+1) DM(x+14)
(15
words) to 15 words max.
DM(x+14) x 8 = 120 words
(x=0000 to 0985)
15 words max. x 8 = 120 words
26
Memory Allocation Section 4-1
Note For the number of process execution cycles, the same value will be read as
for the Data Setting Console display value in Mode 1.
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
27
Memory Allocation Section 4-1
28
Memory Allocation Section 4-1
15 00
Numeric Data
(000 to 999: 3 digits BCD)
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
This value is the same as the value displayed at the Data Setting
Console in Mode 1.
n+7 15 to 08 --- Not used. Set to “0.”
07 to 00 Bank being exe- Monitors the bank that is presently being executed. 00 to 08 (2-digit
cuted BCD)
29
Memory Allocation Section 4-1
Note 1. Data other than 0 may be output even if the Resolver is not operating when
the power is turned ON, the Special I/O Unit has been reset, or origin ad-
justment has been executed.
2. May turn OFF even if the Resolver is not operating when the power is
turned ON, the Special I/O Unit has been reset, origin adjustment has
been executed, or the Resolver has been disconnected.
30
Memory Allocation Section 4-1
DM (m+8) Bank 6
DM (m+9) Bank 7
DM (m+10) Bank 8
DM (x+6) Step no. 3 OFF data The 15 words shown on the left
constitute a single block. Bank
DM (x+7) ON data numbers and cam numbers can
Step no. 4
be changed, and data can be set
or retrieved for a total of eight
DM (x+8) Step no. 4 OFF data blocks from DM (x + 15) onwards.
31
Peripheral Device Operations and Data Setting Section 4-2
Numeric Data
(001 to 999: 3 digits BCD)
Decimal Point Position Data
1: No digits to right of decimal point
2: 1 digit to right of decimal point
4: 2 digits to right of decimal point
ON/OFF Data
000 to 359: 3 digits BCD
FFF: No data
32
Peripheral Device Operations and Data Setting Section 4-2
33
Peripheral Device Operations and Data Setting Section 4-2
4. Turn the Memory Download Flag (bit 05 of word n) from OFF to ON.
This operation will begin the transfer to the Cam Positioner Unit of the data
from DM x onward.
Data will be transferred one DM word at a time.
Verify the end of the transfer with the Memory Load Completed Flag (bit 04
of word n + 8).
After bit 04 of word n + 8 has been turned ON, it will automatically turn OFF
when bit 05 of word n turns OFF.
Memory download ON
(bit 05 of word n) OFF
Note Memory downloading can only be executed when the memory load enabled
flag (bit 06 of word n + 8) is ON. (When this bit is ON, the Data Setting Con-
sole display will be lit.) This is independent of the operation mode selector set-
ting and the operating/stopped setting.
Example of Setting Cam ON/OFF Data
Set the following cam ON/OFF data so that the bank number = 1 and the cam
number = 1.
ON
Cam data
OFF
0° 30° 50° 80° 115° 150° 200° 260° 320° 0°
Assume that the Unit number is 0 and that the general DM words to be used
begin at DM 0100.
Dedicated DM
DM1000 0100 Leading DM number for cam data storage
DM1001 0001 Number of cam data storage combinations
General DM
DM0100 0101 01 01
DM0101 0030 Cam no.
Step 1
DM0102 0050 Bank no.
DM0103 0080
Step 2
DM0104 0115 For each step, set the ON data
first and then the OFF data.
DM0105 0150
Step 3
DM0106 0200
DM0107 0260
Step 4
DM0108 0320
DM0109 0000
If the steps are not to be used,
...
...
34
Peripheral Device Operations and Data Setting Section 4-2
Memory upload ON
(bit 04 of word n) OFF
Note Memory downloading can only be executed when the Memory Load Enabled
Flag (bit 06 of word n + 8) is ON. (When this bit is ON, the Data Setting Con-
sole display will be lit.) This is independent of the operation mode selector set-
ting and the operating/stopped setting.
35
Peripheral Device Operations and Data Setting Section 4-2
Retrieving Example
Retrieve the “bank number = 1” and the “cam number = 1” cam ON/OFF data.
The Unit number is 0.
Dedicated DM
DM1000 0200 Leading DM number for cam data storage
DM1001 0001 Number of cam data storage combinations
General DM
DM0200 0101 01 01
Cam no.
Bank no.
...
"0FFF" is stored.
DM0214 0FFF
36
Program Examples Section 4-3
4. Either turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF
@
to ON, or turn the C200H power supply from ON to OFF and then ON
again.
These operations will cause the contents of DM m + 2 to be read. If DM m
+ 2 is “0001,” then the data from (2) above will be transferred from the
@
C200H to the Cam Positioner Unit.
From this point on, each time the bank no. data in word n + 1 is changed,
the data from (2) above will be transferred.
Note The transfer of the required number of revolutions for a single process can be
only executed when the Memory Load Enabled Flag is ON (i.e., the display on
the Data Setting Console is lit).
Setting Example
Set the following data:
Number of revolutions required for a single process for Bank 1 = 1.00
Number of revolutions required for a single process for Bank 2 = 002
Assume that the Unit number is 0.
37
Program Examples Section 4-3
Program Example
25315 10801
MOV(21)
(ON for 1 cycle.) (RUN mode) #0002
Sets the bank number as "2."
101
25313 10000
CMP(20)
(Always ON) #0002 Waits for word 107 (bank number monitor) to be
set to "0002." (See note below.)
107
25506
23200 When word 107 is set to "0002," 23200 turns ON.
(=)
23200 A
10000 Operation instruction
10000
END(01)
Note It takes approximately 900 ms for the bank number data to be transferred. The
transfer time required varies with the PC’s cycle time. Therefore, as shown in
the example, verify that the transfer has been completed before turning ON
the Operation Flag.
38
Program Examples Section 4-3
(Turn AR 0100 OFF and ON or turn the C200H @ ON, OFF, and ON after set-
ting.)
Dedicated DM
DM1000 0100 Leading DM number for cam data storage
DM1001 0001 Number of cam data storage combinations
General DM
DM0100 0101 01 01
DM0101 0030 Cam no.
Step no. 1
DM0102 0050 Bank no.
DM0103 0080
DM0104 0115 Step no. 2
For each step, set the ON data
first and then the OFF data.
DM0105 0150
Step no. 3
DM0106 0200
DM0107 0260
Step no. 4
DM0108 0320
DM0109 0000
If any steps are not to be used,
...
...
END(01)
39
Program Examples Section 4-3
as shown below, the data in each block is copied in turn to normal DM Area
words and downloaded to the Cam Positioner Unit. The process must be
repeated 6 times.
Normal DM Area words Cam Positioner Unit
Memory Download Flag
(bit 05 of word n)
Set 120 words
Work area
Dedicated DM Area (15 words x 8 Download
words cam outputs)
XFER or other
transfer instruction
Indirect addressing
(Used as storage
pointer) 1 2 3 4 5 6
Cam output 1 to 8 9 to 16 17 to 24 25 to 32 33 to 40 41 to 48
number
ON/OFF data for 48 cam outputs stored in advance. This data transferred 8
outputs (120 words) at a time to the same normal DM Area words.
Initial Setup The following dedicated DM Area word data and the ON/OFF data for the 48
cam outputs must be stored in advance using a Programming Console or
other Programming Device. Do not store the cam ON/OFF data in normal DM
Area words at this time. The data will be copied from the cam ON/OFF data
area in sequence by the program for downloading.
Dedicated DM
Area Words
DM 1000 0000 Address of first word to hold the cam data.
DM 1001 0008 Number of cam outputs that has been stored.
(Number of cam outputs to be downloaded at once.
• Set the address of the first word in the DM Area that will be used to hold
the cam ON/OFF data for downloading. Here, the address is DM 0000.
• Set the number of cam outputs that will be downloaded for each data
transfer. Here, the maximum number (8) is used.
Normal DM
Area Words
DM 0000 0000 These 120 words are used to hold the cam data for 8 cam outputs
to at a time so that data for all 48 cam outputs can be downloaded in
succession.
DM 0119 0000
40
Program Examples Section 4-3
Cam Data The cam ON/OFF data is set in blocks of 8 words starting at DM 3000 as
shown below.
Address Block Cam output
numbers
DM 3000 to DM 3119 1 1 to 8
DM 3200 to DM 3319 2 9 to 16
DM 3400 to DM 3519 3 17 to 24
DM 3500 to DM 3719 4 25 to 32
DM 3600 to DM 3919 5 33 to 40
DM 4000 to DM 4119 6 41 to 48
1 2 3 4 5 6
The following table shows example data for one block, i.e., cam ON/OFF data
for 15 words.
Address Contents Meaning
DM 3000 0101 Upper 2 digits: Bank number (1 to 8)
Lower 2 digits: Cam output number (1 to 8)
DM 3001 0030 Step 1 ON data
DM 3002 0050 Step 1 OFF data
DM 3003 0080 Step 2 ON data
DM 3004 0115 Step 2 OFF data
DM 3005 0150 Step 3 ON data
DM 3006 0200 Step 3 OFF data
DM 3007 0260 Step 4 ON data
DM 3008 0320 Step 4 OFF data
DM 3009 0000 Step 5 ON data
DM 3010 0000 Step 5 OFF data
DM 3011 0000 Step 6 ON data
DM 3012 0000 Step 6 OFF data
DM 3013 0000 Step 7 ON data
DM 3014 0000 Step 7 OFF data
Note Set 0000 or 0FFF for steps that are not being used.
Program Execution The program functions as follow to transfer the data:
Procedure
41
Program Examples Section 4-3
Program Example
25315
MOV(21) #3000 stored in DM 5000 at startup. DM 5000 is
#3000 the pointer to the storage area.
First Scan Flag
DM 5000 Storage
pointer
25315 d
RSET Memory Load Completed Flag (IR 10804) reset at
Memory Load
First Scan Flag Download 10804 Completed Flag startup or when c is ON and d is OFF.
completed (n + 8 bit 04)
c XFER(70)
Also, contents of 120 words of data starting at the
#0120 No. of words
Change data incam
address in DM 5000 (initially DM 3000) are copied
#DM 5000 Storage
data storage words pointer to DM 0000 to DM 0119.
DM 0000 First word
for cam data
storage
DM 5000 Storage
pointer
c Change data incam c turns ON when the pointer value has been
data storage words
changed.
25313
CMP(20) Contents of pointer value in DM 5000 compared to
DM 5000 Storage
Always ON Flag pointer #4200 to see if all the data has been downloaded.
#4200
25506
d
Download If DM 5000 contains #4200, d is turned ON and
completed
the download processing is stopped.
Equals Flag
END(01)
42
Program Examples Section 4-3
END(01)
...
"0FFF" is stored.
DM0214 0FFF
43
Program Examples Section 4-3
A 10801 10000
MOV(21)
(RUN mode) #0001 Sets "bank number = 1" to word 101.
101
CMP(20)
#0001 Waits for word 107 (bank number monitor)
to be set to "0001." (See note below.)
107
25506
23200 When word 107 is set to "0001," 23200 turns ON.
(=)
23200 B
10000 Operation instruction
10000
END(01)
Note It takes approximately 100 ms for the bank number data to be transferred.
Therefore, as shown in the example, verify that the transfer has been com-
pleted before turning ON the Operation Flag.
44
SECTION 5
Troubleshooting
Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
45
Error Detection Section 5
Error Detection
When an error occurs with resolver input or at the Cam Positioner Unit, the
content of the error is output to the Data Setting Console and to an input relay
to notify the user.
Errors, Causes and Status at time of error:
Corrections
Refers to the operation status and the cam output status when the error
occurs.
O: Operation or cam output continues.
X: Operation or cam output stops.
Display Error Operation Status at time Probable cause Possible correction
mode of error
PRG RUN Oper- Cam
ating output
e01 Memory error ❍ ❍ × × There is an error in the Clear the error (see
EEPROM of the Cam Posi- page 48).
tioner Unit. Replace the Unit.
e02 Communica- ❍ ❍ ❍ ❍ There is an error in the com- Clear the error (see
tion error munications between the page 48).
Cam Positioner Unit and the Replace the connection
Data Setting Console. cable.
Replace the Unit.
e03 Power failure ❍ ❍ × × Power was interrupted during Clear the error (see
error data setting or origin adjust- page 48), and then make
ment. the settings again.
e20 Bank change × ❍ × × The bank number data in Clear the error (see
error word n + 1 is not set from 00 page 48), and then set
to 08 the bank number cor-
The cam setting data is cor- rectly.
rupted.
46
Error Detection Section 5
Note 1. Display:
Refers to the display on the Data Setting Console.
2. Operation mode:
Refers to the setting of the operation mode selector when the error occurs.
If there is a circle in both the PRG and RUN columns, it indicates that the
error applies to both modes. A triangle for the resolver disconnection error
indicates that the error applies only in PRG mode and when the power is
turned on.
47
Error Detection Section 5
Error Clearing Methods When any of the above errors occurs, first remove the cause of the error and
then apply one of the following methods to clear the error. Only methods (3)
and (4) are valid for parameter errors (e22). When either of these two methods
is used to clear an error, the bank number reverts to “0” and must then be
reset.
• Press the CLR key on the Data Setting Console.
• Turn the Error Reset Flag (bit 03 of word n) from OFF to ON.
@
• Turn the C200H ’s power supply from ON to OFF and then back ON.
• Turn the Special I/O Restart Flag (AR 0100 to AR 0109) from OFF to ON.
Duplicate I/O Unit The Unit number duplicates the number of another Special I/O Unit. The SR
bit 25415 turns ON when an Duplicate I/O Unit error occurs. Refer to AR 0000
@
to AR 0011 for the duplicated Unit number. The C200H PC will not operate
during a duplicate I/O error.
Set the Unit number to a unique number.
Special I/O Unit Error I/O refresh not operating correctly between the CPU Unit and Cam Positioner
Unit. Operation in not interrupted when a Special I/O Unit error occurs. Refer
to AR 0000 to AR 0015 for the Unit number where the error occurred. After
correcting the cause of the error, set the Special I/O Unit Restart Flag (AR
0100 to AR 0109) to restart operation.
RUN Indicator Unlit @
The C200H power supply is turned on but the RUN indicator is not lit. None
of the errors described previously is the cause. Replace the Unit.
No Data Detting console • No 24 VDC power supply is connected to the Cam Positioner Unit input
Display terminals A10 and B10.
• The connecting cable connector is disconnected.
• The connecting cable is broken.
• A circuit in the Data Setting Console is defective.
• A circuit in the Cam Positioner Unit is defective.
After determining the cause of the error, repair the problem or replace the
Unit.
48
Appendix A
Specifications
General Specifications
Conforms to the C200H@ PC specifications.
Performance Specifications
Item Specifications
Cam output points Total: 48 points
Internal/external outputs: 16 points (cam outputs 1 to 16)
Internal outputs: 32 points (cam outputs 17 to 48)
External output NPN transistor, open collector (with photocoupler insulation)
Switching capacity: 100 mA at 24 VDC
Simultaneous ON points: 8 points max.
External output terminal 24-pin connector (Fujitsu’s FCN-360-series connector)
Resolver 3F88L-RS17
3F88L-RS17T
3F88L-RS15
3F88L-RS15W
Note: The 3F88L-RS15 and 3F88L-RS15W each require a resolver cable.
Resolver input terminal 8-pin round connector
(The 20-cm-long 3F88L-CROR2A Auxiliary Connection Cable is provided with the
Cam Positioner Unit.)
Resolver response r/min 800 r/min max.
Angle detection cycle 200 µs (at a sampling frequency of 5 kHz)
Cam output response time 450 µs (800 r/min)
Control unit (resolver resolution) 1°
Origin adjustment 1° to 359°
Number of ON/OFF control opera- Maximum of 7 per cam output
tions
Number of cam output data banks 8 banks
A single bank contains 48 points of cam output data.
Cam data is stored in EEPROM.
@
The bank No. to be used is specified via the C200H using the user’s program or
Programming Console.
Data input present value display Set by the Data Setting Console or via the C200H @ using the Programming Console
or appropriate device, or the user’s program.
Selectors Front panel: Origin adjustment setting, operation mode selection
Rear panel: CW or CCW selection, cam data protect permitted/not permitted, adjust-
ment operation permitted/not permitted
Internal current consumption 5 VDC 0.3 A max.
External power supply 24 VDC +10%/–15% 2 A min.
Dimensions (mm) 34.5 x 130 x 101 (W x H x D)
Weight Approx. 350 g
49
Specifications Appendix A
Output Specifications
Item Specifications
Switching capacity 24 VDC 100 mA
Leakage current 160 µA max.
Residual voltage 1.8 V max.
ON response time 20 µs max. (see note)
OFF response time 20 µs max. (see note)
Number of circuits 16 pts./common, 1 circuit
Simultaneous ON points 8 points
External power supply 24 VDC at 2 A max. (including load)
Note The ON and OFF response times are numbers that depend on the hardware and are not times that can
be controlled by software.
50
Appendix B
Resolvers
Resolver Specifications
Item 3F88L-RS15 3F88L-RS15W 3F88L-RS17 3F88L-RS17T
Axial diameter 6 dia. mm 10 dia. mm
Axial load Radial: 10 kgf {98 N} Radial: 20 kgf {196 N}
Thrust: 10 kgf {98 N} Thrust: 20 kgf {196 N}
Friction torque 30 gf • cm {2.9 mN • m} max. 120 gf • cm 500 to 1,500 gf • cm
{12 mN • m} max. {49 to 147 mN • m}
max.
Vibration resistance Frequency range:10 to 500 Hz
Total amplitude: 1.5 mm or 98 m/s2, whichever is less
Test time: 3 directions: X, Y, Z (2 hrs each)
Impact resistance 4,900 m/s2 in ±X, ±Y, and ±Z directions, 3 times each
Protective structure Drip proof, oil proof IP52F (JEM)
Maximum cable length Can be extended up to 100 m.
Frequency 5 kHz
Electrical malfunction 10 min
Maximum speed 3,000 rpm (Mechanical)
Mounting method Servo-mount (mounting hooks included) Flange-mounting (Flange strength: 25 kgf
{245 N})
Coupling 3F88L-RL6 3F88L-RL10
Wiring method Connector Lead wire (350 mm) Cable (3 m, end connector included)
Color Munsell N1.5 Munsell 5Y3/1
Ambient operating –10° to 80°C
temperature
51
Resolvers Appendix B
Resolver Dimensions
3F88L-RS17/RS17T
Dimensions at end of axle
9 28±0.5
72(81)
Four, 4.5-dia. 3 4 (See note)
9.5
+0 40 dia.
45 35 −0.05dia.
−0.005
10−0.017 dia.
50±0.3 dia.
45
16
59
21 Extension cable
37
Cable length:
approx. 3 m
59
3F88L-RS15
16.5±0.5
72 65 max.
Dimensions at end of axle
3 2.5
9
5.5 43 dia. 39 dia.
+0.004
6 −0.016 dia.
+0
33.32−0.05 dia. RM15WTP-10P
connector (Hirose)
RM15WTP-10S-(8) connector (Hirose)
3F88L-RS15W
16.5±0.5 16 max. 350 max.
Dimensions at end of axle 64
3 2.5
9
+0
33.32 −0.05 dia.
52
Resolvers Appendix B
35 +0.025
+0.009 dia.
(Recommended dimensions)
50±0.3 dia.
Four M4
Mounting
50 dia.
Four, M4
screws
Note The flange can withstand a force of 25 kgf (245 N) on the center of the resolver.
3F88L-RS15/RS15W (Flange Mounting)
Recommended mounting holes
33.32+0.025
+0.009 dia.
(Recommended dimensions)
120° 52 dia.
Three M4
Mounting
Three M4
Mounting hooks (included with resolver)
52 dia.
12
6
4.4 dia.
10
2.6
Mounting hooks
(External diameter: φ:67)
Plate thickness: 3 mm min.
53
Resolvers Appendix B
D dia. E dia.
Coupling Specifications
Coupling model Bending Axial core Allowable torque transfer Set screws
angle: θ1 (see misalignment: t1 +20°C +80°C Size Tightening
note 1) (see note 2) torque
3F88L-RL10 10°max. 1.0 mm max. 30 kgf • cm 18 kgf • cm M4 × 6 4.5 kgf • m
{2.94 N • m} {1.76 N • m} {0.44 N • m}
3F88L-RL6 10°max. 1.2 mm max. 10 kgf • cm 6 kgf • cm M3 × 5 2.5 kgf • m
{0.98 N • m} {0.58 N • m} {0.24 N • m}
Note 1: Note 2: Axial core misalignment
t1
θ1
Note 1. In the diagram above, perform the linkage in the space indicated by C, such that the axial core does
not protrude. If rotation occurs with the axial core protruding, the coupling will loosen and damage the
machinery.
2. If the the bending angle or axial core misalignment is too large, not only will the service life of the
coupling be shortened but the accuracy of the resolver rotation angle will be adversely affected.
54
Resolvers Appendix B
The resolver cable transmits signals that require precision at low voltage. In order to avoid receiving inductive
noise that could adversely affect these signals, it is recommended that resolver cables be wired as far as pos-
sible from other lines.
Keep in-panel wiring as far away as possible from control wires and power lines.
External wiring should be contained in a weak-current duct used exclusively for that purpose, and it should be
covered with a grounded metal plate.
55
Appendix C
Dimensions
130
34.5 101 11
Mounting Dimensions
Backplane
17
Approx. 200
57
Dimensions Appendix C
96
91
48 12 45
44
3 57
Mounting Dimensions
Panel Cutout Clearance
92 +0.8
0
45 +0.6
0
Panel thickness 1 to 4 mm
Allow a clearance of at least 150 mm behind the Data Setting Console when it is installed in the panel to allow
cable connectors to be inserted. A clearance of 50 mm is sufficient if the rear panel can be opened.
58
Index
B E
bank number error codes, 30
setting program, 37 errors
bit allocation causes and corrections, 46
data contents, 27 clearing, 48
BK (BANKS) data setting console display, 48
See also display functions indicators, 48
C F–K
CAM features, 2
See also display functions I\O unit
cam duplicate error, 48
output data, 49 internal power consumption, 49
output points, 49 keyboard functions, 17
setting data and outputs, 18
cam ON/OFF data
monitoring, 43
M
programming, 38 memory
retrieving procedures, 36 bit allocation, 27
setting operations, 33 number allocation, 26
word allocations, 26
D MODE
See also display functions
DATA modes
See also display functions adjustment operation, 23
data data setting procedure, 19
input present value display, 49 monitoring cam angle, 23
modes monitoring process execution cycles, 22
See also modes protect setting, 20
monitoring, 18 selection, 19
setting, 17 setting process revolutions, 21
setting for peripheral devices, 32 mounting racks
data contents maximum Units, 4
dedicated DM, 32
general DM, 32
Data Memory
N–O
DM number allocation, 26 nomenclature and functions, 6
General DM, 31 ON/OFF control
Read Only data, 31 operating specifications, 49
Data Setting Console operation displays, 16
functions, 16 origin adjustment, 24, 33, 49
nomenclature, 15 outputs
operating procedures, 14 external, 49
display functions
BK, 16
CAM, 16 P
DATA, 16
peripheral devices
MODE, 16
data setting, 32
STEP, 16
operations, 32
origin adjustment, 33
retrieving cam ON/OFF data, 35
setting bank number, 33
59
Index
U
R Unit
resolver dimensions, 49, 57
cable models, 51 mounting dimensions, 57
connecting, 11 weight, 49
models, 51
specifications, 49
W
S wiring
connecting, 10
selectors connecting resolver, 11
specifications, 49 Data Setting Console, 12
single process external cam output, 8
setting number of revolutions, 36 precautions, 12
Slave Rack preventing noise, 10
mounting parameters, 4 recommended cables, 9
60
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code Date Revised content
1 September 1993 Original production
1A July 1995 Page 48: The maximum speed in Resolver Specifications corrected from
300 rpm to 3,000 rpm.
2 January 2001 PLP section added to the front of the manual.
@
“C200H” changed to “C200H ” where appropriate to indicate the applicable
PCs.
Pages 2, 16, 17, 27, 28 and 45: “External outputs” changed to “internal/external
outputs.”
Page 8: Note added.
Pages 22, 28: “Per unit time” changed to “per minute.”
Page 28: Information added to description for n+6.
Page 33: “Bit 05” corrected to “bit 04” and “bit 07” corrected to “bit 06.”
Page 34: “Bit 07” corrected to “bit 06.”
Page 35: Information added to step 2 in the middle of the page.
Page 37: Section added.
Pages 37 and 38: “Dedicated DM Area words” added.
Page 48: G’s changed to m/s2.
61