OMRON CS1W-MCH71 User Manual

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Cat. No. W435-E1-05

Programmable Controller SYSMAC CS/CJ-series CS1W-MCH71 CJ1W-MCH71

Motion Control Unit

OPERATION MANUAL

CS1W-MCH71 CJ1W-MCH71 Motion Control Unit

Operation Manual

Revised June 2008

Notice:

r f

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

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

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

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

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

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

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

Visual Aids

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

 OMRON, 2004

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o OMRON.

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

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

tion of the product.

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

Introduction

We are flattered that you have purchased OMRON SYSMAC CS/CJ-series advanced Motion Control Unit.

Motion control Unit CS1W-MCH71/CJ1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance CPU unit of the programmable controller SYSMAC CS/CJ-series that has been produced by OMRON's advanced technology for control and abundant experience.

This instruction manual describes MC Unit's specifications and procedures for operation. Please read each section in its entirety and be sure you understand the information provided in the

section and relate sections before attempting any of the procedures or operation given.

MC Units

Unit Versions A “unit version” has been introduced to manage MC Units according to differ-

ences in functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

MC Unit

The unit version is given to the right of the lot number on the nameplate of the applicable MC Units, as shown below.

Product nameplate

OMRON CJ1W- MCH71

MC UNIT

Lot No. 031001 0000 Ver.3.1

Unit version Example for unit version 3.1

The unit version of the MC Units begins at version 2.0.

Identifying Unit Versions A unit version label is provided with the Advanced Motion Control Unit. This

label can be attached to the front of the Motion Control Unit to differentiate between Motion Control Units of different Unit versions.

Attach the unit version label here.

Confirming Unit Versions with Support Software

Ver. 3.1

The unit version 2.1 or later can be confirmed in Unit Manufacturing Informa- tion of CX-Programmer version 4.0 or higher. Unit version 2.0 cannot be confirmed in Unit Manufacturing Information. Use the CX-Motion-MCH Support Tool for Motion Control Units to confirm the unit version.

Example: Confirming Unit Version 2.1 or Later Using CX-Programmer Version 4.0 or Higher

1. In the I/O Table Window, right-click the Motion Control Unit and select Unit Manufacturing Information.

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

vii

3. Unit version 3.1 will be displayed in the Unit Manufacturing Information Dialog Box.

Example: Confirming Unit Version 3.0 Using CX-Motion-MCH Support Tool

Use the CX-Motion-MCH Support Tool for Motion Control Units to confirm the unit version, as shown in the following table.

Method for confirming the internal system software version

Corresponds to the unit version Internal system software version

The system software version in the Motion Control Unit can be checked in the Unit information from the online menus.

CJ1W-MCH71 CS1W-MCH71

Unit Ver. 2.0: Unit Ver. 2.1: Unit Ver. 3.0: Unit Ver. 3.1

1.05xxxx

1.06xxxx

1.07xxxx

1.09xxxx

1.05xxxx

---

1.08xxxx

1.09xxxx

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Functions Supported by CJ1W-MCH71 Units Version 2.1 or Later

Unit version Unit Ver. 2.0 Unit Ver. 2.1 Unit Ver. 3.0 Unit Ver. 3.1

Internal system software version 1.05 1.06 1.07 1.09

MC Unit model CJ1W-MCH71

Functions Reading unit version function Not supported Supported Supported Supported

Expanded allocations in Custom I/O Area

Data tracing Not supported Not supported

Debugging Not supported Not supported

Zones Not supported Not supported

Signed master axis MOVELINK command

Indirect writing of position data Not supported Not supported Supported Supported

Setting the number of parallel branches for each task

Present position preset to establish origin

Status of program start bit Not supported Not supported Supported Supported

Servo OFF for deceleration stop signal Not supported Not supported

Re-execution of WAIT command Not supported Not supported Supported Supported

Main power status Not supported Not supported Supported Supported

Servo Driver status Not supported Not supported Supported Supported

Increased precision of CAMBOX command

Improved restarting after restoration --- --- --- Supported

Expanded bank switching for interpolation acceleration/deceleration times

Internal overrides --- --- --- Supported

Connecting to SMARTSTEP Junior Servo Drivers

Improved backup and restore functions

Program and CAM data read protection

Applicable Support Tool CX-Motion-MCH

Not supported Supported Supported Supported

Supported

Not supported Not supported Supported Supported

Not supported Not supported

Supported

Not supported Not supported Supported Supported

--- --- --- Supported

--- --- ---

• Functions for unit version 3.0 indicated by “*1” can be used with CXMotion-MCH version 2.0 or higher.

Supported

• Functions for unit version 3.1 indicated by “*2” can be used with CXMotion-MCH version 2.1 or higher.

CJ1W-MCH71 Unit Versions and Manufacturing Dates/Lot Numbers

Classification Type Model Manufacturing dates

Up to early

November

2004

CPU Bus Unit MC Unit CJ1W-MCH71 Unit version 2.0 Unit version 2.1

From middle of

November

2004

(Lot No.: 041117 and later)

From early

Unit version 3.0 (Lot No.: 050615 and later)

June 2005

From early

July

2007

Unit version 3.1 (Lot No.: 070615 and later)

Functions Supported by CS1W-MCH71 Units Version 2.0 or Later

Unit version Pre-Ver. 2.0 Unit Ver. 2.0 Unit Ver. 3.0 Unit Ver. 3.1

Internal system software version 1.00 to 1.04 1.05 1.08 1.09

MC Unit model CS1W-MCH71

Functions Jogging --- Supported Supported Supported

Communications levels --- Supported Supported Supported

Communications cycle and unit cycle --- Supported Supported Supported

LATCH command processing time --- Supported Supported Supported

Latch status refresh time --- Suppor ted Supported Supported

Using interpolation commands during pass operation

Acceleration/deceleration time during pass operation

Deceleration time during pass operation --- Supported Supported Supported

Torque to position control switching --- Supported Supported Supported

Expanded allocations in Custom I/O Area

Digital input values changed to improve noise immunity

Faster unit cycle and communications cycle times

Signed master axis MOVELINK command --- --- Supported Supported

Indirect writing of position data --- --- Supported Supported

Status of program start bit --- --- Supported Supported

Re-execution of WAIT command --- --- Supported Supported

Main power status --- --- Supported Supported

Servo Driver status --- --- Supported Supported

Increased precision of CAMBOX command --- --- Supported Supported

Data tracing --- ---

Debugging --- ---

Zones --- ---

Setting the number of parallel branches for each task

Present position preset to establish origin --- ---

Servo OFF for deceleration stop signal --- ---

Improved restarting after restoration --- --- --- Supported

Expanded bank switching for interpolation acceleration/deceleration times

Internal overrides --- --- --- Supported

Connecting to SMARTSTEP Junior Servo Drivers

Improved backup and restore functions --- --- ---

Program and CAM data read protection --- --- ---

Applicable Support Tool CX-Motion-MCH

--- Supported Supported Supported

--- ---

Supported

--- --- Supported Supported

Supported

--- ---

Supported

--- --- --- Supported

--- --- ---

Supported

• Functions for unit version 3.0 indicated by “*1” can be used with CXMotion-MCH version 2.0 or higher.

• Functions for unit version 3.1 indicated by “*2” can be used with CXMotion-MCH version 2.1 or higher.

CS1W-MCH71 Unit Versions and Manufacturing Dates/Lot Numbers

Classification Type Model Manufacturing dates

From early

June 2004

CPU Bus Unit MC Unit CS1W-MCH71 Pre-Ver. 2.0 Unit version 2.0

From July 2004 From

March

2007

(Lot No.: 040715 and later)

Unit version 3.0 (Lot No.: 070313 and later)

From early

July

2007

Unit version 3.1 (Lot No.: 070615 and later)

Guide to Version Upgrades

Guide to CJ1W-MCH71 Version Upgrade

Function Upgrades from Unit Version 3.0 to 3.1

Restarting after Restoration

Previous versions

(Unit Ver. 3.0 and earlier)

After data has been restored from the CPU Unit's flash memory, the Unit must be restarted by cycling the CPU Unit's power supply.

After data has been restored from the CPU Unit's flash memory, the Unit is restarted using a bit between A50100 and A50115 in the Auxiliary Area of the CPU Unit. For details, refer to 7-1 Overview.

Current version

(Unit Ver. 3.1)

Expanded Bank Switching for Interpolation Acceleration/Deceleration Times

Previous versions

(Unit Ver. 3.0 and earlier)

The acceleration time and deceleration time used for interpolation operations cannot be set separately.

The acceleration time and deceleration time used for interpolation operations can be set separately.

P00004, bit 13: Bank switching method selection

0: Select the same bank for acceleration and

deceleration (same as for version 3.0).

1: Select different banks for the acceleration

time and deceleration time.

Parameters P00M11 to P00M15 are used to set acceleration times, and P00M16 to P00M20 are used to set deceleration times. For details, refer to 6-1 Basic Information.

Current version

(Unit Ver. 3.1)

Internal Overrides

Previous versions

(Unit Ver. 3.0 and earlier)

There is a function for changing the axis feed rate from a ladder program, but not from a motion program.

The feed rate when the following commands are executed can be changed from a motion program.

Commands for which an override can be specified from the motion program:

MOVE Rapid feed rate DATUM Origin return feed rate MOVEI Rapid feed rate, external position-

MOVET Rapid feed rate The actual speed is as follows: Actual speed = Axis feed rate x (Axis override +

Internal override) For details, refer to 6-1 Basic Information.

Current version

(Unit Ver. 3.1)

ing rate

Connecting to SMART STEP Junior Servo Drivers

Previous versions

(Unit Ver. 3.0 and earlier)

Cannot be connected. Can be connected.

Current version

(Unit Ver. 3.1)

Backup and Restore Functions

Previous versions

(Unit Ver. 3.0 and earlier)

The origin compensation value when an absolute encoder is used is backed up using the CPU Unit's easy backup function.

Origin compensation values can be backed up even with CX-Motion-MCH version 2.1. For details, refer to Section 11 Backup and Restore in the CX-Motion-MCH Operation Manual (Cat. No. W448).

Program and CAM Data Read Protection

Previous versions

(Unit Ver. 3.0 and earlier)

There is no program and CAM data read protection.

The CX-Motion-MCH version 2.1 read protection function (password setting), can be used to prevent third-parties from reading program and CAM data. For details, refer to Section 12 Read

Protection in the CX-Motion-MCH Operation Manual (Cat. No. W448).

Current version

(Unit Ver. 3.1)

Current version

(Unit Ver. 3.1)

Improved Functions from Unit Ver. 2.1 Compared to Unit Ver. 3.0

Data Tracing

Previous versions

(Unit Ver. 2.1 and earlier)

Data tracing is not supported. A data tracing function is provided that can

simultaneously collect a maximum of 32 data items. This function does not affect previous functionality. Previously reserved parameters and variables are used to set and reference data trace conditions and status.

For details, refer to 9-6 Data Tracing.

Current version

(Unit Ver. 3.0)

Debugging

Previous versions

(Unit Ver. 2.1 and earlier)

Breakpoints cannot be set. Debugging is supported using breakpoints that

are set using the Support Tool, and debugging is supported for direct operation.

These functions do not affect previous functionality, but the following bit has been added to the Unit status to indicate that debugging is being executed from the Support Tool.

• CIO n+15, bit 09: Operating mode (Reserved in

previous unit versions.) 0: Normal mode 1: Support Tool mode (debugging)

Current version

(Unit Ver. 3.0)

xii

Zones

Previous versions

(Unit Ver. 2.1 and earlier)

Zones are not supported. A maximum of 32 zone bits are available.

Zone bit: A bit that turns ON when any variable is within the set range, and turns OFF when the variable is outside of the range.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00011 (Reserved in previ-

ous unit versions.)

• Setting: 0 to 32

0: Default. Same as previous function. 1 to 32: Use zone bits 1 to 32.

Parameters and variables that were previously reserved are used to set zone upper and lower limits.

For details, refer to 9-7 Zones.

Current version

(Unit Ver. 3.0)

Signed Master Axis MOVELINK Command

Previous versions

(Unit Ver. 2.1 and earlier)

The main axis input sign is ignored and data is read as an absolute travel distance.

The main axis input sign is evaluated and the data is read as a signed travel distance.

This function enables the main axis to use the feedback speed of an axis traveling at low speed.

Current version (Unit Ver. 3.0)

Indirect Writing of Position Data

Previous versions

(Unit Ver. 2.1 and earlier)

Position data can be indirectly read but cannot be indirectly written.

Current version (Unit Ver. 3.0)

Position data can be both read and written indirectly.

Example: Indirect Writing

@PL0000 = 1234;

“1234” will be assigned as the contents of the address set in PL0000.

This function does not affect previous functionality.

xiii

Setting the Number of Parallel Branches for Each Task

Previous versions

(Unit Ver. 2.1 and earlier)

The number of branches and the number of commands that can be executed are the same for each task.

The number of branches and the number of instructions that can be executed can be set individually for each task, enabling fine adjustment of the Unit cycle.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 11 (Reserved in previous unit versions.)

Previously reserved parameters are used to set the number of parallel branches individually for each task.

Current version (Unit Ver. 3.0)

0: Default. Same as previous function. 1: Individually set the number of branches and

the number of commands that can executed in each task.

Present Position Preset to Establish Origin

Previous versions

(Unit Ver. 2.1 and earlier)

The origin is not established when the present position is set to the preset value.

The origin is established when the present position is set to the preset value.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 12 (Reserved in previous unit versions.)

0: Default. Same as previous function. 1: Origin established for preset.

Current (Unit Ver. 3.0)

Program Start Bit Status

Previous versions

(Unit Ver. 2.1 and earlier)

An operation completed bit alone cannot be used to detect the end of programs with processing times that are shorter than the Unit cycle time.

The start bit ON/OFF status in the CPU Unit is output to the task status bit.

Example for Axis 1:

• n+17 bit 06: start bit (Reserved in previous unit

versions.)

0: Start bit from CPU Unit OFF 1: Start bit from CPU Unit ON

The end of the relevant program can be detected if this bit is ON and the operation completed bit is ON.

Servo OFF for Deceleration Stop Signal

Previous versions

(Unit Ver. 2.1 and earlier)

When the deceleration stop signal for the Unit turns ON, all axes are decelerated to a stop.

When the deceleration stop signal for the Unit turns ON, the servo can be turned OFF for all axes. The operation for servo OFF is set in the Servo Driver parameters.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 10 (Reserved in previous unit versions.)

0: Default. Same as previous function. 1: Servo OFF

Current (Unit Ver. 3.0)

xiv

Re-execution of WAIT Command

Previous versions

(Unit Ver. 2.1 and earlier)

If the program is stopped while WAIT command execution is in effect (i.e., when the deceleration stop bit is ON) and then re-started by setting the Start Mode to 1, the program is started from the next block after the WAIT command.

Main Power Status

Previous versions

(Unit Ver. 2.1 and earlier)

The main power status (ON/OFF) is written to a system variable.

Servo Driver Status

Previous versions

(Unit Ver. 2.1 and earlier)

The Servo Driver warning and alarm codes are stored in the error log.

The Servo status (torque limit, limit inputs, etc.) is output to system variables (SW021C and SW021D for axis 1.)

Current (Unit Ver. 3.0)

If the program is stopped while WAIT command execution is in effect (i.e., when the deceleration stop bit is ON) and then re-started by setting the Start Mode to 1, the WAIT command is re-executed.

Current (Unit Ver. 3.0)

The main power status (ON/OFF) is written to both a system variable and a status bit for each axis.

Example for Axis 1:

• x+32 bit 12: Main power ON bit (reserved in

previous unit versions)

0: Main power OFF 1: Main power ON

The servo can be effectively locked from the CPU Unit after confirming that this bit is ON.

Current (Unit Ver. 3.0)

In addition to the functionality supported in previous unit versions, Servo Driver warning codes, alarm codes, and status (torque limit, limit inputs, etc.) are also output to the following output variables that were reserved in previous unit versions.

OW0210: Axis 1 Warning code/alarm code OW0211: Axis 1 Status

(same as SW021C)

OW0212: Axis 1 Status

(same as SW021D) to OW026D: Axis 32 Warning code/alarm code OW026E: Axis 32 Status

(Same as SW07EC) OW026F: Axis 32 Status

(Same as SW07ED)

Compliance with RoHS Directive

Previous versions

(Unit Ver. 2.1 and earlier)

Lead was included in the cream solder used to mount chip components, in the flow solder used in assembly, and in thread solder.

Solder type Main components

Cream solder Tin and lead

Flow solder Tin and lead

Thread solder Tin and lead

There is no mark indicating compliance with the RoHS Directive.

Current version (Unit Ver. 3.0)

As shown below, lead is not used. There is no change in specifications (including outer appearance) resulting from this change.

Solder type Main components

Cream solder (1) Tin, silver, indium, and

Flow solder (1) Tin and copper

Thread solder Tin, silver, and copper

Note: Either 1 or 2 shown above is used.

Increased Precision of CAMBOX Command

Previous versions

(Unit Ver. 2.1 and earlier)

If the slave axis CAM table is switched during continuous master axis travel, part of the slave axis travel is eliminated when the CAM table is switched.

Example: :

CAMBOX [J01]1 [J02]10000 K10000 Q8 B0;Cam 1 CAMBOX [J01]2 [J02]10000 K10000 Q8 B0;Cam 2 CAMBOX [J01]3 [J02]10000 K10000 Q8 B0;Cam 3 :

Slave axis displacement

The slave axis will travel the set amount, even if the slave axis CAM table is switched during continuous master axis travel.

Example: :

CAMBOX [J01]1 [J02]10000 K10000 Q8 B0;Cam 1 CAMBOX [J01]2 [J02]10000 K10000 Q8 B0;Cam 2 CAMBOX [J01]3 [J02]10000 K10000 Q8 B0;Cam 3 :

Slave axis displacement

bismuth

(2) Tin, silver, and copper

The RoHS compliance mark is displayed.

Current (Unit Ver. 3.0)

xvi

Master axis phase

Cam 1 Cam 3Cam 2

Slave axis speed

Master axis

phase

This amount of travel is eliminated.

Cam 1 Cam 3Cam 2

Slave axis speed

Master axis phase

Functions Added in Version Upgrade

The following table provides a comparison between the functions provided in the upgrade to unit version 2.1 or later of CJ1W-MCH71 SYSMAC CJ-series Motion Control Units from the previous unit version 2.0.

Reading Unit Versions

Previous version (Unit Ver. 2.0) Present version (Unit Ver. 2.1)

The MC Unit's unit version code could not be read by accessing the Unit Manufac- turing Information in CX-Programmer Ver.4.0.

The MC Unit's unit version code can be read by accessing the Unit Manufacturing Information in CX-Programmer Ver.4.0.

Expanded Allocations in Custom I/O Area

Previous version (Unit Ver. 2.0) Present version (Unit Ver. 2.1)

Only the I/O variable area determined in advance could be allocated to the Custom I/O Area.

In addition to the I/O variable area, system variables, global general variables, position data, and task variables for userspecified addresses can be allocated in the Custom I/O Area.

Expanded Custom I/O Area Allocations

Ladder program

Overview

The CPU Unit can control MC Units with the following three different methods of data I/O.

1. Data exchange with allocated bit area words.

2. Data exchange with allocated DM Area words.

3. Data exchange with allocated Custom Area words.

CPU Unit

Allocated Bit

Area words

Allocated DM

Area words

Custom Bit Area words

Custom Data

Area words

I/O Refresh

Control

Status

When the power is

ON or restarting

Area range setting

MC Unit version 2.1 or higher

Motion program

Startup, Stop

Command analysis

General input

Status

General output

Variables

Set the Custom

Area range to use

Command

The function for exchanging data in the Custom I/O Area has been enhanced with MC Units with unit version 2.1, as shown in the following table.

For details on previous specifications, refer to SECTION 7 PC Interface Area.

xvii

No. Classification MC Unit Variable Area Area size

Previous version

(Unit Ver. 2.0)

1 General I/O A IW0B00 to IW0B9F or OW0B00 to

OW0B9F

2 General I/O B IW0BA0 to IW0C3F or OW0BA0 to

OW0C3F

3 General I/O C IW0C40 to IW0CDF or OW0C40 to

OW0CDF

4 General I/O D IW0CE0 to IW0D7F or OW0CE0

to OW0D7F

5 General I/O E IW0D80 to IW0E1F or OW0D80 to

OW0E1F

6 General I/O F IW0E20 to IW0EBF or OW0E20 to

OW0EBF

7 General I/O G IW0EC0 to IW0F5F or OW0EC0 to

OW0F5F

8 General I/O H IW0F60 to IW0FFF or OW0F60 to

OW0FFF

The variable area and addresses can be allocated for the following variables.

•System variables

• Global general variables

• Input variables

• Output variables

• Position data

•Task variable

Present version

(Unit Ver. 2.1)

0 to 160 words

xviii

Guide to CS1W-MCH71 Version Upgrade

Function Upgrades from Unit Version 3.0 to 3.1

Restarting after Restoration

Previous versions

(Unit Ver. 3.0 and earlier)

After data has been restored from the CPU Unit's flash memory, the Unit must be restarted by cycling the CPU Unit's power supply.

After data has been restored from the CPU Unit's flash memory, the Unit is restarted using a bit between A50100 and A50115 in the Auxiliary Area of the CPU Unit. For details, refer to 7-1 Overview.

Current version

(Unit Ver. 3.1)

Expanded Bank Switching for Interpolation Acceleration/Deceleration Times

Previous versions

(Unit Ver. 3.0 and earlier)

The acceleration time and deceleration time used for interpolation operations cannot be set separately.

The acceleration time and deceleration time used for interpolation operations can be set separately.

P00004, bit 13: Bank switching method selection

0: Select the same bank for acceleration and

deceleration (same as for version 3.0).

1: Select different banks for the acceleration

time and deceleration time.

Parameters P00M11 to P00M15 are used to set acceleration times, and P00M16 to P00M20 are used to set deceleration times. For details, refer to 6-1 Basic Information.

Current version

(Unit Ver. 3.1)

Internal Overrides

Previous versions

(Unit Ver. 3.0 and earlier)

There is a function for changing the axis feed rate from a ladder program, but not from a motion program.

The feed rate when the following commands are executed can be changed from a motion program.

Commands for which an override can be specified from the motion program:

MOVE Rapid feed rate DATUM Origin return feed rate MOVEI Rapid feed rate, external position-

MOVET Rapid feed rate The actual speed is as follows: Actual speed = Axis feed rate x (Axis override +

Internal override) For details, refer to 6-1 Basic Information.

Current version

(Unit Ver. 3.1)

ing rate

Connecting to SMART STEP Junior Servo Drivers

Previous versions

(Unit Ver. 3.0 and earlier)

Cannot be connected. Can be connected.

Current version

(Unit Ver. 3.1)

xix

Backup and Restore Functions

Previous versions

(Unit Ver. 3.0 and earlier)

The origin compensation value when an absolute encoder is used is backed up using the CPU Unit's easy backup function.

Origin compensation values can be backed up even with CX-Motion-MCH version 2.1. For details, refer to Section 11 Backup and Restore in the CX-Motion-MCH Operation Manual (Cat. No. W448).

Program and CAM Data Read Protection

Previous versions

(Unit Ver. 3.0 and earlier)

There is no program and CAM data read protection.

The CX-Motion-MCH version 2.1 read protection function (password setting), can be used to prevent third-parties from reading program and CAM data. For details, refer to Section 12 Read

Protection in the CX-Motion-MCH Operation Manual (Cat. No. W448).

Current version

(Unit Ver. 3.1)

Current version

(Unit Ver. 3.1)

Function Upgrades from Unit Version 2.0 to 3.0

Expanded Allocations in Custom I/O Area

Previous version (Unit Ver. 2.0) Present version (Unit Ver. 3.0)

Only the I/O variable area determined in advance could be allocated to the Custom I/O Area.

In addition to the I/O variables, system variables, global general variables, position data, and task variables for userspecified addresses can be allocated to the Custom I/O Area.

Digital Input Values Changed to Improve Noise Resistance

Previous version

(Unit Ver. 2.0)

Rated input voltage: 24 VDC ±10% Rated input current: 4.06 to 4.48 mA

ON voltage: 9.5 V min. OFF voltage: 4.5 V max.

Rated input voltage: 24 VDC ±10% Rated input current: 4.02 to 4.52 mA

ON voltage: 14 V min. OFF voltage: 6V max.

(Any sensors that were previous used can still be used.)

Current version

(Unit Ver. 3.0)

Parameter Added for Faster Unit Cycle and Communications Cycle Time

Previous version

(Unit Ver. 2.0)

Unit cycle [us] = (115.0 × Number of axes) + (165 × Number of motion tasks × Number of parallel branches) + (0.3 × Number of general allocation words) +

350.0

Communications cycle [us] = ((Number of allocated Units + Number of retries) ×

133.3+26.2) × 1.1

Unit cycle [us] = (85 × Number of axes) + (120 × Number of motion tasks × Number of parallel branches) + (0.3 × number of general allocation words) + 200

Communications cycle [us] = ((Number of allocated Unit + Number of retries) ×

102.7 + 19.2) × 1.1 Use the following parameter to switch the

performance.

• Parameter number: P00004

• Bit: 09 (previously reserved) 0: Initial value. Performance is the

1: Selects faster performance.

Current version

(Unit Ver. 3.0)

same as before.

Signed Master Axis MOVELINK Command

Previous version

(Unit Ver. 2.0)

The main axis input sign is ignored and data is read as an absolute travel distance.

The main axis input sign is evaluated and the data is read as a signed travel distance.

This function enables the main axis to use the feedback speed of an axis traveling at low speed.

Indirect Writing of Position Data

Previous version

(Unit Ver. 2.0)

Position data can be indirectly read but cannot be indirectly written.

Position data can be both read and written indirectly.

Example: Indirect Writing

@PL0000 = 1234;

“1234” will be assigned as the contents of the address set in PL0000.

This function does not affect previous functionality.

Program Start Bit Status

Previous version

(Unit Ver. 2.0)

An operation completed bit alone cannot be used to detect the end of programs with processing times that are shorter than the Unit cycle time.

The start bit ON/OFF status in the CPU Unit is output to the task status bit.

Example for Axis 1:

• n+17 bit 06: start bit (Reserved in previous unit versions.)

0: Start bit from CPU Unit OFF 1: Start bit from CPU Unit ON

The end of the relevant program can be detected if this bit is ON and the operation completed bit is ON.

Current version

(Unit Ver. 3.0)

Current version

(Unit Ver. 3.0)

Current version

(Unit Ver. 3.0)

Re-execution of WAIT Command

Previous version

(Unit Ver. 2.0)

Current version

(Unit Ver. 3.0)

If the program is stopped while WAIT command execution is in effect (i.e., when the deceleration stop bit is ON) and then re-started by setting the Start Mode to 1, the WAIT command is re-executed.

xxi

Main Power Status

Previous version

(Unit Ver. 2.0)

The main power status (ON/OFF) is written to a system variable.

Servo Driver Status

Previous version

(Unit Ver. 2.0)

The Servo Driver warning and alarm codes are stored in the error log.

The Servo status (torque limit, limit inputs, etc.) is output to system variables (SW021C and SW021D for axis 1.)

Current version

(Unit Ver. 3.0)

The main power status (ON/OFF) is written to both a system variable and a status bit for each axis.

Example for Axis 1:

• x+32 bit 12: Main power ON bit (reserved in previous unit versions)

0: Main power OFF 1: Main power ON

The servo can be effectively locked from the CPU Unit after confirming that this bit is ON.

Current version

(Unit Ver. 3.0)

OW0210: Axis 1 Warning code/alarm code OW0211: Axis 1 Status

(same as SW021C)

OW0212: Axis 1 Status

(same as SW021D) to OW026D: Axis 32 Warning code/alarm code OW026E: Axis 32 Status

(Same as SW07EC) OW026F: Axis 32 Status

(Same as SW07ED)

xxii

Compliance with RoHS Directive

Previous version

(Unit Ver. 2.0)

Lead was included in the cream solder used to mount chip components, in the flow solder used in assembly, and in thread solder.

Solder type Main components

Cream solder Tin and lead

Flow solder Tin and lead

Thread solder Tin and lead

As shown below, lead is not used. There is no change in specifications (including outer appearance) resulting from this change.

Solder type Main components

Cream solder (1) Tin, silver, indium, and

Flow solder (1) Tin and copper

Thread solder Tin, silver, and copper

Note: Either 1 or 2 shown above is used.

There is no mark indicating compliance with the RoHS Directive.

Increased Precision of CAMBOX Command

Previous version

(Unit Ver. 2.0)

If the slave axis CAM table is switched during continuous master axis travel, part of the slave axis travel is eliminated when the CAM table is switched.

Example: :

CAMBOX [J01]1 [J02]10000 K10000 Q8 B0;Cam 1 CAMBOX [J01]2 [J02]10000 K10000 Q8 B0;Cam 2 CAMBOX [J01]3 [J02]10000 K10000 Q8 B0;Cam 3 :

Slave axis displacement

The slave axis will travel the set amount, even if the slave axis CAM table is switched during continuous master axis travel.

Example: :

CAMBOX [J01]1 [J02]10000 K10000 Q8 B0;Cam 1 CAMBOX [J01]2 [J02]10000 K10000 Q8 B0;Cam 2 CAMBOX [J01]3 [J02]10000 K10000 Q8 B0;Cam 3 :

Slave axis displacement

Current version

(Unit Ver. 3.0)

bismuth

(2) Tin, silver, and copper

The RoHS compliance mark is displayed.

Current version

(Unit Ver. 3.0)

Master axis phase

Cam 1 Cam 3Cam 2

Slave axis speed

Master axis

phase

This amount of travel is eliminated.

Cam 1 Cam 3Cam 2

Slave axis speed

Master axis phase

xxiii

The following functions can be used with CX-Motion-MCH version 2.0 or higher (available from August

2006).

Data Tracing

Previous version

(Unit Ver. 2.0)

Data tracing is not supported. A data tracing function is provided that can

Current version

(Unit Ver. 3.0)

Debugging

Previous version

(Unit Ver. 2.0)

Breakpoints cannot be set. Debugging is supported using breakpoints that

are set using the Support Tool, and debugging is supported for direct operation.

These functions do not affect previous functionality, but the following bit has been added to the Unit status to indicate that debugging is being executed from the Support Tool.

• CIO n+15, bit 09: Operating mode (Reserved in

previous unit versions.) 0: Normal mode 1: Support Tool mode (debugging)

Current version

(Unit Ver. 3.0)

Zones

Previous version

(Unit Ver. 2.0)

Zones are not supported. A maximum of 32 zone bits are available.

Zone bit: A bit that turns ON when any variable is within the set range, and turns OFF when the variable is outside of the range.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00011 (Reserved in previ-

ous unit versions.)

• Setting: 0 to 32

0: Default. Same as previous function. 1 to 32: Use zone bits 1 to 32.

Parameters and variables that were previously reserved are used to set zone upper and lower limits.

Current version

(Unit Ver. 3.0)

xxiv

Setting the Number of Parallel Branches for Each Task

Previous version

(Unit Ver. 2.0)

The number of branches and the number of commands that can be executed are the same for each task.

The number of branches and the number of instructions that can be executed can be set individually for each task, enabling fine adjustment of the Unit cycle.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 11 (Reserved in previous unit versions.)

0: Default. Same as previous function. 1: Individually set the number of branches and

the number of commands that can executed in each task.

Previously reserved parameters are used to set the number of parallel branches individually for each task.

Current version

(Unit Ver. 3.0)

Present Position Preset to Establish Origin

Previous version

(Unit Ver. 2.0)

The origin is not established when the present position is set to the preset value.

The origin is established when the present position is set to the preset value.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 12 (Reserved in previous unit versions.)

0: Default. Same as previous function. 1: Origin established for preset.

Current version

(Unit Ver. 3.0)

Servo OFF for Deceleration Stop Signal

Previous version

(Unit Ver. 2.0)

When the deceleration stop signal for the Unit turns ON, all axes are decelerated to a stop.

When the deceleration stop signal for the Unit turns ON, the servo can be turned OFF for all axes. The operation for servo OFF is set in the Servo Driver parameters.

The previous function and the new function can be switched using the following parameter.

• Parameter number: P00004

• Bit 10 (Reserved in previous unit versions.)

0: Default. Same as previous function. 1: Servo OFF

Current version

(Unit Ver. 3.0)

xxv

Function Improvements for Unit Version 2.0

Jogging

Previous versions Current version (Unit Ver. 2.0)

The JOG feed direction is set or reversed as follows:

• Use the JOG/STEP Direction Bit to specify the feed direction.

• Turn ON the JOG Bit.

• To reverse the feed direction, turn OFF the JOG Bit.

• After the axis is stopped, reverse the JOG/STEP Direction Bit.

• Turn ON the JOG Bit. The feed direction will be reversed.

Communications Levels

Previous versions Current version (Unit Ver. 2.0 or later)

The MC Unit supported communications on up to three levels.

As shown below, a setting for reverse operation has been added.

• Use the JOG/STEP Direction Bit to specify the feed direction.

• Turn ON the JOG Bit.

• The feed direction is reversed by reversing the JOG/STEP Direction Bit even while the JOG Bit still ON.

Use the following parameter to switch the previous function and the new one.

• Parameter number: P00004

• Bit: 05 (previously reserved)

0: Initial value. Same as previous func-

tion.

1: Selects new function.

The MC Unit supports communications on up to eight levels, according to the eight levels supported by the CPU Unit. The CPU Unit supports eight levels with unit version 2.0 or later.

Communications Cycle and Unit Cycle

Previous versions Current version (Unit Ver. 2.0 or later)

The MC Unit communications cycle and unit cycle times are as follows:

Communications cycle: 1 ms, 2 ms, 4 ms Unit cycle: 1 ms, 2 ms, 4 ms, 8 ms

• Supporting a communications cycle of

• Use the following parameter to switch the

LATCH Command Processing Time

Previous versions Current version (Unit Ver. 2.0 or later)

The time from when the LATCH command is executed until the external latch signal is detected is as follows:

• When latch signals are received at any position: 105 to 232 ms

• When only latch signals in a specified position range are received: 105 to 232 ms

As shown below, performance is improved in cases where latch signals are received at any position.

• When latch signals are received at any

• When only latch signals in a specified

3 ms enable more precise performance. Communications cycle: 1 ms, 2 ms, 3ms, 4 ms Unit cycle: 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, 8 ms

previous function and the new one. Parameter number: P00004 Bit: 03 (previously reserved)

0: Initial value. Same as previous func-

tion.

1: Enables use of 3 ms.

position: 3 to 24 ms

position range are received: 105 to 232 ms

xxvi

Latch Status Refresh Time

Previous versions Current version (Unit Ver. 2.0 or later)

After a LATCH command is executed, the time from when the latch signal is input until it is reflected in the system variable (the variable showing latch completion) is

14.5 to 85.5 ms.

The performance has been improved as follows:7.5 to 37.5 ms

Using Interpolation Commands during Pass Operation

Previous versions Current version (Unit Ver. 2.0 or later)

To execute pass operation from a stopped axis, two interpolation commands are required for the initial operation.

Example:

: PASSMODE; MOVEL [J01]100 F10000; MOVEL [J02]400 F10000; WHILE #MW0000==0; INC MOVEL [J02]100 F1000; WEND;

To execute pass operation from a stopped axis, only one interpolation command is required.

Example:

: PASSMODE; WHILE #MW0000==0; INC MOVEL [J02]100 F1000; WEND;

Acceleration/Deceleration Times during Pass Operation

Previous versions Current version (Unit Ver. 2.0 or later)

Changing the acceleration/ deceleration times during pass operation was complex at any time. It was necessary to use the PARALLEL command to execute parallel processing.

• The acceleration/deceleration times can be changed during pass operation.

• As shown below, switching is made easy by using a newly added parameter.

MOVEL [J01]1000 F1000 #W0A00 = 2;

MOVEL [J01]5000 F1000

• The following ten newly added parameters use part of the task parameter area that was previously reserved. Setting range: 0 to 60,000 (ms)

Number Name

P00M11 Interpolation feed acceleration/

deceleration time, Bank 1

P00M20 Interpolation feed acceleration/

deceleration time, Bank 10

← The time set in bank 2

is used for passing to the next position.

xxvii

Deceleration Time during Pass Operation

Previous versions Current version (Unit Ver. 2.0 or later)

The interpolation feed deceleration time is used to decelerate to a stop during pass operation.

Example: Pass Mode Selection, P00M06 = 0

Interpolation feed acceleration time Ta = P0MM02

Interpolation feed deceleration time Td = P00M03

Program

PASSMODE; INC MOVEL [J01]1000 F100000; INC MOVEL [J01]1000 F100000; END;

Speed

Ta Ta Td

• The interpolation time used during pass operation (the interpolation feed acceleration time or the interpolation feed deceleration time) is used to decelerate to a stop during pass operation. Example: Pass Mode Selection, P00M06 = 0 Interpolation feed acceleration time Ta = P0MM02 Interpolation feed deceleration time Td = P00M03 Program

Speed

Tim

• To stop at the interpolation feed deceleration speed as previously, add STOPMODE before the final interpolation command as shown below.

PASSMODE; INC MOVEL [J01]1000 F100000; INC MOVEL [J01]1000 F100000; END;

PASSMODE; INC MOVEL [J01]1000 F100000; STOPMODE; INC MOVEL [J01]1000 F100000; END;

Time

Speed

Ta Ta Td

Time

xxviii

Torque to Position Control Switching

Previous versions Current version (Unit Ver. 2.0 or later)

Switching from torque control to position control using the TORQUR command is executed when the axis feedback speed reaches 0.

Speed to Position Control Switching

Previous versions Current version (Unit Ver. 2.0 or later)

Switching from speed control to position control using the SPEEDR command is executed when the axis feedback speed reaches 0.

• Switching from torque control to position control using the TORQUR command is executed by switching to position control when the axis feedback speed reaches the speed specified in a parameter (specified by a percentage of the rated speed).

• The following newly added parameter uses part of the axis parameter area that was previously reserved.

Number Name

P3AA09 Position control switching

speed Setting range: 0 to 32,767

(0.01%)

• Switching from speed control to position control using the SPEEDR command is executed when the axis feedback speed reaches the speed specified in a parameter (specified by a percentage of the rated speed).

• The following newly added parameter uses part of the axis parameter area that was previously reserved.

Number Name

P3AA09 Position control switching

speed Setting range: 0 to 32,767

(0.01%)

xxix

xxx

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xli

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlii

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xliii

4 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xliv

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

SECTION 1

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

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

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

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4 Control System Configuration and Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

1-6 Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1-7 Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2 Overview of CX-Motion-MCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

SECTION 4

MC Unit Internal Data Configuration and Setting . . . . . . . 55

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4-2 System Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

4-7 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

4-8 Servo Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

xxxi

TABLE OF CONTENTS

SECTION 5

Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 211

5-1 Data Transfer and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212

5-2 IOWR Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

5-3 IORD Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5-4 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

SECTION 6

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

6-1 Basic Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

6-2 Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .286

6-3 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

SECTION 7

PC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

7-2 Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

7-3 Allocations for the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

7-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

SECTION 8

Establishing the Origin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

8-2 Input Signals Required for Origin search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

8-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

8-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .536

8-5 Absolute (ABS) Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .539

8-6 ABS Encoder Origin Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540

SECTION 9

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

9-1 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

9-2 Debugging the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .553

9-3 Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558

9-4 Backup and Restore Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

9-5 Servo Driver Status Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .569

9-6 Data Tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

9-7 Zones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

xxxii

TABLE OF CONTENTS

SECTION 10

Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619

SECTION 11

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627

11-1 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628

11-2 Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634

11-3 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638

11-4 Unit-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639

11-5 Motion Task-related Alarm Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

11-6 Axis-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .648

11-7 MLK Device Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653

11-8 Servo Driver Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655

11-9 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656

SECTION 12

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 659

12-1 Routine Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

Appendices

A Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663

B Main Parameter Settings when Connecting W-series Servo Driver with

Built-in MECHATROLINK-II Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

xxxiii

xxxiv

About this Manual:

This manual describes the installation and operation of the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units (MC Units) and includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the MC Unit. Be sure to read the precautions provided in the following section.

Precautions provides general precautions for using the Motion Control Unit, Programmable Controller, and related devices.

Section 1 introduces the features and system configuration of the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. It also describes product operating principles and provides product specifications.

Section 2 provides an overview of the basic procedures required to use the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units.

Section 3 describes the names of Unit parts and how to install and wire the CJ1W-MCH71 and CS1WMCH71 Motion Control Units.

Section 4 describes the data configuration uses to set up, operate, and monitor the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units and related devices.

Section 5 describes how to transfer data between the CPU Unit and the CJ1W-MCH71 and CS1WMCH71 Motion Control Units and how data is stored.

Section 6 describes how to program CJ1W-MCH71 and CS1W-MCH71 Motion Control Units operation, including the program configuration and the specific commands used in programming.

Section 7 describes the interface area in the CPU Unit used to control and monitor the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units.

Section 8 describes how to establish the origin in the positioning system.

Section 9 describes special operations for the CJ1W-MCH71 and CS1W-MCH71 Motion Control

Units, including teaching, program debugging, coordinate systems, and backup functions.

Section 10 provides a programming example to demonstrate how the CJ1W-MCH71 and CS1WMCH71 Motion Control Units can be used.

Section 11 describes how to troubleshoot problems that may occur when using the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units.

Section 12 describes the maintenance and inspection procedures required to keep the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units in optimum condition.

The Appendix describes the performance of the Motion Control Units.

Registered Trademark

• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.

xxxv

xxxvi

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

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

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

xxxvii

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

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

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

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

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

xxxviii

Disclaimers

CHANGE IN SPECIFICATIONS

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

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

xxxix

PRECAUTIONS

This section provides general precautions for using the CJ1W-MCH71and CS1W-MCH71 Motion Control Units and related devices.

The information contained in this section is important for the safe and reliable application of the CJ1W-MCH71 or CS1W-MCH71 Motion Control Unit. You must read this section and understand the information contained before attempting to set up or operate a CJ1W-MCH71 or CS1W-MCH71 Motion Control Unit.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlii

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlii

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xliii

4 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xliv

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlv

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

6-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

6-4 Installation within Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . xlvi

xli

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 specifications 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, amusement machines, safety equipment, and other systems, machines, and equipment 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 Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

!WARNING It is extremely important that a PLC and all PLC Units be used for the speci-

fied 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 PLC System to the above-mentioned applications.

xlii

Safety Precautions 3

3 Safety Precautions

DANGER

Never attempt to disassemble any Units while power is being supplied. Doing so may result in serious electronic shock.

Never touch any of the terminals while power is being supplied. Doing so may result in serious electronic shock.

Provide safety measures in external circuits (i.e., not in the Programmable Controller or MC Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or MC unit. Not providing sufficient safety measures may result in serious accidents.

• Emergency- stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The PLC or MC Unit outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• When the 24-VDC (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• Provide safety measures in external circuits to ensure safety in system if an abnormality occurs due to malfunction of MC Unit connectors.

WARNING

Execute online edit only after confirming that the cycle time extension will not cause any adverse effects. Some input signals may not be read if the cycle time is extended.

Confirm the safety of the destination node before transferring program to the node or changing the contents of I/O memory. Doing either of these without confirming safety may result in injury.

Do not save data into the flash memory during memory operation or while the motor is running. Otherwise, unexpected operation may be caused.

Do not reverse the polarity of the 24-V power supply. The polarity must be correct. Otherwise, the motor may start running unexpectedly and may not stop.

When positioning is performed using Teaching function, positioning specification in the motion program must be [Absolute specification].

If [Incremental specification] is specified, positioning will be executed at the different point from where Teaching conducted.

xliii

Application Precautions 4

4 Application Precautions

Observe the following precautions when using the MC Unit or the PLC.

• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

• Always turn off after power supply to the Unit before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting the MC Unit or any other unit.

• Assembling the Units.

• Setting Rotary switches.

• Connecting Cables or wiring the system.

• Connecting or disconnecting the connectors.

• Confirming 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 operation mode of the PLC (including the setting of the startup operating mode).

• Changing the present value of any word or any set value in memory.

• Force-setting /force-resetting any bit in memory.

• Always connect to a ground of 100 100

Ω or less may result in electric shock.

• 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 malfunction or damage.

• Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in this manual. Incorrect tightening torque may result in malfunction.

• Tighten the mounting screws at the bottom of the Unit to a torque of 0.4 N·m. Incorrect tightening torque may result in malfunction.

• Perform wiring according to specified procedures.

• Leave the label attached to the Unit when wiring. Removing the label may result in malfunction if foreign matter enters the Unit.

• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.

• Check the pin numbers before wiring the connectors.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

• Be sure that the connectors, terminal blocks, I/O cables, cables between drivers, and other items with locking devices are properly locked into place. Improper locking may result in malfunction.

• Always use the power supply voltage specified in this manual. An incorrect voltage may result in malfunction or burning.

• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An in correct power supply may result in malfunction.

• Do not apply voltages to the Input Units in excess of the rated input voltage. Excess voltage may result in burning.

• Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity. Excess voltages or loads may result in burning.

• Check carefully all wiring and switch setting before turning ON the power supply. Incorrect wiring may result in burning.

• Separate the line ground terminal (LG) from the functional ground terminal (GR) on the Power Supply Unit before performing withstand voltage tests or insulation resistance tests. Not doing so may result in burning.

• Do not place objects on the top of the cables or other wiring lines. Doing either of these may break the cables.

Ω or less when installing the Units. Not connecting to a ground of

xliv

Operating Environment Precautions 5

• Do not pull on the cables or bend the cables beyond their natural limit. Doing so may break the cables.

• Do not turn off the power supply to the Unit while data is being written to flash memory. Doing so may cause problems with flash memory.

• Confirm that user program for proper execution before actually running it on the Unit. Not checking the program may result in an unexpected operation.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in an unexpected operation.

• Resume operation only after transferring to the new MC Unit the contents of the parameters, position data, and other data required for resuming operation. Not doing so may result in an unexpected operation.

• Resume operation only after transferring to the new CPU Unit the contents of the DM Area, HR Area, and other data required for resuming operation. Not doing so may result in an unexpected operation.

• After transferring the system parameters, servo parameters, programs, position data, and CAM data to the MC Unit, be sure to save the data in flash memory within the MC Unit (using the data save command from the Support Tool or CPU Unit) before turning OFF the power supply to the Unit. Transferring the data to the MC Unit will simply save the data in the internal memory (S-RAM) of the MC Unit and this data will be cleared when the power supply to the Unit is turned OFF.

• After transferring the system parameter data to the MC Unit and saving the data to flash memory, be sure to reset the power supply to the unit or restart the Unit. Otherwise, some of the unit parameters and machine parameters will not be changed.

• The Machine lock function is enabled in each axis, for the effects on the operations with multiple axes such as interpolation operation be sure to machine lock all of relative axes in order to prevent the interference with other axes or devices.

• If axes are stopped during a synchronized operation, however, the synchronization of the master axis and slave axes positions will be cancelled. For that reason, be aware of the interference with other axes or devices when restarting up.

• When the load OFF status is occurred in the CPU Unit during manual operation such as JOG, which is performed by operating input variables from the MC Unit's program, the operation will be continued for one-cycle of the Unit. Using the WHILE command to repeat until given condition is satisfied, however, it continues to operate even load-OFF has occurred, be aware of the interference with other axes or devices.

• Do not attempt to take any Units apart, to repair any Units, or to modify any Units in anyway.

• The control distance will be longer if stopping at the maximum torque is changed to stopping by turning OFF the servo when a limit sensor is detected.

5 Operating Environment Precautions

• The installation must be conducted correctly.

• Do not operate the control system in the following places.

• Locations subject to direct sunlight

• Locations subject to temperatures or humidity outside the range specified in the specifications

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

• Take appropriate and sufficient countermeasures when installing systems in the following locations. Inappropriate and insufficient measures may result in malfunction.

• Locations subject to static electricity or other sources of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

xlv

Conformance to EC Directives 6

• Locations close to power supplies.

6 Conformance to EC Directives

6-1 Applicable Directives

EMC Directives

6-2 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards to that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards (see the following note). The customer, however, must check whether the products conform to the standard in the system used by the customer.

EMC related performance of the OMRON devices that comply with EC Directives would vary depending on the configuration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are installed.

The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electro-Magnetic Compatibility) standards are as follows:

EMS (Electro-Magnetic Susceptibility): EN61000-6-2, EMI (Electro-Magnetic Interference): EN55011 EN55011 Radiated emission 10-m regulations

6-3 Conformance to EC Directives

The MC Unit complies with EC Directives. To ensure that the machine or device in which an MC Unit is used complies with EC Directives, the MC Unit must be installed as directed below:

1. The MC Unit must be installed within a control panel.

Use a control panel like SA20-712 (Nitto Electronics) or similar to this.

2. Reinforced insulation or double insulation must be used for the DC power supplies used for the

communications and I/O power supplies.

3. MC Units complying with EC Directives also conform to the Common Emission Standard

(EN50081-2). With regard to the radiated emission (10-m regulations), countermeasures will vary depending on the devices connected to the control panel, wiring, the configuration of the system, and other conditions. The customer must, therefore, perform final checks to confirm that devices and the overall machine conform to EC Directions.

6-4 Installation within Control Panel

Unnecessary clearance in cable inlet or outlet ports, operation panel mounting holes, or in the control panel door may cause electromagnetic wave leakage or interference. In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with conductive packing. (In places where conductive packing comes in contact with the control panel, ensure electrical conductivity by removing the paint coating or masking these parts when painting.)

xlvi

SECTION 1

Features and System Configuration

The section introduces the features and system configuration of the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units. It also describes product operating principles and provides product specifications.

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

1-1-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-1-2 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

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

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

1-2-2 Peripheral Devices (Models and Specifications) . . . . . . . . . . . . . . . 5

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-1 Applicable Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-2 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-3-3 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-4 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-5 Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-3-6 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4 Control System Configuration and Principles. . . . . . . . . . . . . . . . . . . . . . . . . 11

1-4-1 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-4-2 Control System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-4-3 Feedback Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-5 Performance Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-5-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1-5-2 Functions and Performance Specifications. . . . . . . . . . . . . . . . . . . . 12

1-6 Command List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1-7 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Fe at ur e s Section 1-1

1-1 Features

1-1-1 Overview

The MC Unit is a CS/CJ-series Motion Control Unit that can control thirty axes. An internal motion language programming is mounted, so that it can perform the advanced motion control operations.

1. Position Control

• 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 so on.

• Continuous Path Control: With continuous path (CP) control, not only the

start position and target position are controlled but also the path between those points. Functions such as linear interpolation, circular interpolation, helical circular interpolation, and traverse can be performed.

2. Speed Control

It makes the motor run at the specified speed, it also specifies the rate of speed change.

3. Torque Control

It generates specified Torque and specifies the rate of Torque change.

4. Synchronous Control

• Electronic Shaft: Functions the same as for the rolls connected to the

gearbox with a gearshift.

• Electronic Cam: Functions the same as for the Machine CAM.

The MC Unit has been developed for use in simple positioning applications using servomotors. Applicable machines are as follows:

• Conveyor Systems: X/Y tables, palletizers/depalletizers, loaders/unload-

ers, etc. (Palletizers and depalletizers are devices used for loading goods onto pallets or for unloading them from pallets. Loaders and unloaders are devices that have shelves corresponding with the steps of a multi-step press and used for inserting or removing all the materials at one time.)

• Assembling Systems: Simple robots (including orthogonal robots), simple

automated assembling machines (such as coil winding, polishing, hole punching), etc.

Note The MC Unit is not designed to perform the interpolation movement like a lin-

ear interpolation, a circular interpolation, or a helical circular interpolation with horizontal articulated robots or cylindrical robots, because it does not support coordinate conversions (cylindrical coordinate rotation function). The MC Unit can, however, perform PTP control with these robots.

Fe at ur e s Section 1-1

1-1-2 Features

Simple System Architecture

Easiest Information Management

Various motion controls ~Distributed control system~

High-speed and flexibility • It is possible to realize variety of applications because of its availability for

• Independent control of multiple axes (Up to 30 physical axes; including

virtual axes total is 32)

• Each axis can be set as either a physical or virtual axis.

• Additional unit is not required.

• High-speed channel with servo driver enables parameters' setting of

servo driver, status monitoring. These functions are possible from the Support Tool or PT.

• Backup using Memory Card in CPU Unit.

• Besides CPU Unit of PLC, executes motion program for motion control.

• Regarding to motion task, up to 8 motion programs can be simultaneously

executed. In each of these 8 programs, programs can be executed in parallel.

Synchronous Controls (Electric Shaft, Electronic Cam, Trailing Synchronization), Speed Control, Torque Control, and Position Control.

• The minimum length of servo communication cycle is 1 ms.

• It is possible to switch position, speed, and torque command during axis

movement (there are few restrictions).

• The accurate controls of MC Unit and Servo driver or dispersion module

are possible conducting a completely synchronized processing at fixed intervals.

Easy Debugging • Up to 32 data items can be traced simultaneously to enable debugging

operations, such as checking the starting timing, to be easily performed using the support tool.

• Motion program consecutive operations, single-step operations, and

breakpoint settings can be executed using the Support Tool. Note These functions can be used when CX-Motion-MCH version 2.0 or

higher is used in combination with a Motion Control Unit of unit version 3.0 or later.

Combination of basic functions makes variety of synchronizations possible

• Electronic Shaft function

• Electronic cam function (Time, position)

• Virtual axis function

• Axis movement function for superimposed axis, ADDAX

• Resist function (with present position hardware latch and window func-

tion).

• Electronic link operation

• Trailing synchronization

• Target position change function

• Speed command

• Torque command

• Time-fixed positioning

System Configuration Section 1-2

1-2 System Configuration

1-2-1 System Configuration Example

The MC Unit is adopted a high-speed communication pathway to simplify its wiring. It makes it possible to have up to 30 axes for controls.

MCH71

Sensor/ Valve

Computer

Memory card

W-series SMARTSTEP Junior Servo Driver

CW Limit/CCW Limit

Max.30 axes (nodes)/total length 50 m

DI/O

Counter Pulse output

Stepping

Note (1) MECHATROLINK is a registered trademark of the MECHATROLINK

Members Association.

(2) A W-series Servo Driver requires a YASKAWA MECHATROLINK-II I/F

Unit (JUSP-NS115).

(3) Each of the products of the following version can be used. The version

name is identified on the nameplate of each product. W-series servo driver: VER.39 or Later I/F Unit: VER ***03 Later, or Equal

(4) When MECHATROLINK-II devices are connected up to 16 nodes (within

30 m) or 15 nodes (within 50 m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

(5) Always attach a Terminator to the last MECHATROLINK-II device on the

network.

System Configuration Section 1-2

Terminator

1-2-2 Peripheral Devices (Models and Specifications)

Support Tool

Name Remarks

CX-Motion-MCH Motion Control Support Tool

MECHATROLINK-II Devices and Cables

Name YASKAWA Model OMRON Model Specification Overview

MECHATROLINK-II Interface Unit JUSP-NS115 FNY-NS115 For W-series Servo Driver DC24V I/O Module JEPMC-IO2310 FNY-IO2310 Input: 64

Counter Module JEPMC-PL2900 FNY-PL2900 Reversing Counter 2CH Pulse Output module JEPMC-PL2910 FNY-PL2910 Pulse Positioning MECHATROLINK-II Cables for W-Series

(With USB connectors and Ring Core)

Terminator for MECHATROLINK-II JEPMC-W6022 FNY-W6022 Terminating resistance

Repeater for MECHATROLINK-II JEPMC-REP2000 FNY-REP2000 Repeater

JEPMC-W6003-A5 FNY-W6003-A5 0.5 m JEPMC-W6003-01 FNY-W6003-01 1.0 m JEPMC-W6003-03 FNY-W6003-03 3.0 m JEPMC-W6003-05 FNY-W6003-05 5.0 m JEPMC-W6003-10 FNY-W6003-10 10.0 m JEPMC-W6003-20 FNY-W6003-20 20.0 m JEPMC-W6003-30 FNY-W6003-30 30.0 m

Included in CX-One FA Integrated Tool Package

Output: 64

(One Terminator is always required.)

Note MECHATROLINK-related products are manufactured by YASKAWA ELEC-

TRIC CORPORATION. We, OMRON, can take orders for them. When ordering them through OMRON, follow OMRON's ordering format. (The delivered products will be of YASKAWA BRAND.) Ask our sales representatives about the price at when ordering them through OMRON.

Basic Operations Section 1-3

1-3 Basic Operations

1-3-1 Applicable Machines

The MC Unit was developed for the purpose of motion control using servomotors.

Even though it depends on the machine accuracy, use an encoder, which is capable to detect 5-10 times more accurate than the machine accuracy.

Applicable machines

1,2,3... 1. Assembling Systems

Simple robots, package machinery (horizontal type forming and vertical type forming), filling machine, grinder, drilling machinery, simple automated assembling machines, etc.

2. Conveyor Systems XY tables, palletizers/depalletizers, loaders/unloaders, etc.

Note The MC Unit is not designed to perform linear interpolation, circular interpola-

tion, 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.

1-3-2 Position Control

The MC Unit offers the following three types of motion control:

•PTP Control

• CP Control (linear interpolation and circular interpolation)

• Interrupt Feeding

Control programs are created in the Motion language.

PTP Control PTP control is used to control each axis (J01 and J02 axis) independently.

Positioning time depends on the travel distance and speed of each axis. Example: Moving from the origin to the J01-axis coordinate of 100 and J02-

axis coordinate of 50 at the same speed. Positioning is executed separately for each axis, so travel between the two

points is carried out as shown in the diagram below:

J02

J01

0 50 100

Basic Operations Section 1-3

CP Control CP Control is used to position by designing not only the starting point and the

target point, but also the path between these two points. Both linear interpolation and circular interpolation are possible.

Circular interpolation

Center

Starting point

Linear interpolation

If [axis name 3] is added, helical interpolation is added to the linear interpolation. (The linear interpolation portion for multiple revolutions specifies the total travel distance.)

Axis 3

Radius

Target point

J01

Target point

Linear

Axis 1

Axis 2

Center

Starting point

interpolation

Circular interpolation

Interrupt Feeding Interrupt feeding is used to perform position control for a fixed distance when

the external signal is input. Positioning with no interrupt signal is also possible.

Speed

Position control (Fixed distance)

Speed

External signal

Counter latch completed

Basic Operations Section 1-3

1-3-3 Speed Control

Make the motor run at a specified speed. It is also possible to specify the speed change rate.

Speed

Speed change rate

Speed command value

1-3-4 Torque Control

The designated torque can be generated. It is also possible to specify the torque change rate.

Torque

Torque change rate

Torque command value

1-3-5 Synchronous Control

Listed below are the synchronous controls of this unit.

• Electronic Shaft

• Electronic cam

• Linking motions

• Trailing synchronization

• Super position control

Each of above controls is programmed by motion language.

Electronic Shaft This function can be used like rolls connected to gearbox with gearshift.

The slave axis synchronizes with the master axis at a specified ratio.

Electronic cam This function can be used like the cam mechanism of a machine.

The slave axis synchronizes with the master axis according to the cam table.

Basic Operations Section 1-3

Link operation This function can be used like the link mechanism of a machine.

The slave axis synchronizes with the master axis following the specified acceleration, constant speed, and deceleration areas. (In the diagram below, vertical and horizontal axes indicate speed and time respectively.)

Acceleration Constant speed Deceleration

Speed

Master axis

Speed

Slave axis

Distance when the master axis is accelerated

MOVELINK command (Link operation starts.)

Distance when the master axis is decelerated

Link operation ends.

Amount of travel distance the master axis makes.

Amount of travel distance the slave axis makes.

Trailing Synchronization Trailing is started when the slave axis is standing by and the marker sensor is

turned ON. Once it catches up with the master axis, synchronous operation is initiated.

Marker sensor signal standby

Speed

Master axis

Trailing operation section

Trailing synchronization section

Speed

Slave axis

Trailing operation travel distance

Marker sensor turns ON (Starts trailing)

SYNC command (Waiting for trail sync)

SYNCR command (Trail sync ends.)

Trailing synchronization starts.

Basic Operations Section 1-3

Travel Distance Superimpose

Speed

Master axis (Superimposing axis)

Speed

Slave axis (Specified axis)

ADDAX command (Travel distance superimpose starts.)

Data Tracing (Supported for unit version 3.0 and later.)

The travel distance of the master axis is superimposed on the slave axis. This function can be used like the differential gear of a machine.

Only this section is superimposed.

Superimposed portion travel distance

ADDAXR command (Travel distance superimpose ends.)

• Up to 32 data items can be traced simultaneously, with any bit (start bit, in-position bit, etc.) or data item (position command, speed command, etc.) taken as one item.

• A pre-trigger function is provided. As shown in the following diagram, when the condition is satisfied for the trigger signal that was set, this function can collect data prior to the condition being met.

Trigger Condition: Tracing starts at leading edge

Task 1 start bit

Axis 1 speed

Pre-trigger setting

Range of data to be traced

1-3-6 Other Functions

Origin Search Establishes the origin for a specified axis.

Jogging Starts and stops a specified axis at a specified speed.

Error Counter Reset Forcibly resets the error counter to zero and stops axis operation after com-

pleting a deceleration command.

Present Position Preset Changes the present position to specified position data.

Teaching Obtains the present position to create position data.

Control System Configuration and Principles Section 1-4

Override (Real-time Speed Change)

Changes the speed during PTP, linear interpolation, or circular interpolation operations.

Backlash Correction Compensates errors caused by faulty meshing in the mechanical system.

Unlimited Feeding Controls axes such as turntables and conveyors that are fed only in one direc-

tion unlimitedly.

Debugging It is possible to execute just one line of a program through single block opera-

tion. It is also possible to run programs without operating the machine system through Machine Lock.

Data Storage Backups and restores data using PLC memory cards.

Arithmetical Operation

Performs Simple arithmetic operation, Functions, and Logic Operations.

Command

Zones (Supported For unit version 3.0 and later.)

• A zone bit turns ON when any variable (including feedback present position, feedback speed, etc.) is within the set range, and OFF when outside of the set range.

• A maximum of 32 zones can be set.

1-4 Control System Configuration and Principles

The servo system used by and the internal operations of the MC Unit are briefly described below.

1-4-1 Control System Configuration

Semi-closed Loop System The MC unit uses the servo system called the semi-closed loop system.

This system is designed to detect actual machine travel distance for a command value using rotations of the motor and the detected value is fed back to the MC unit. The unit computes and compensates the error between the command value and actual travel distance to make it zero.

Table

Ball screw

Motion controller

Servomotor

Command

Actual travel distance

Encoder

Decelerator

The semi-closed loop system is the mainstream in modern servo systems applied to positioning devices for industrial applications.

Performance Specifications Section 1-5

1-4-2 Control System Principles

Internal Operations of the MC Unit

MC Unit CJ1W-MCH71

I/F board Servo driver

Servomoto

Command value

Communication I/F

Command

Status

Communication I/F

1-4-3 Feedback Pulse

Normal rotation/Counter rotation of a motor

Reverse rotation

Forward rotation

1-5 Performance Specifications

Error counter

Position feedback

(CCW) is the forward rotation and (CW) is the reverse rotation when viewed from the output shaft side of the motor.

Speed control

Speed feedback

Power amplifier

Encoder

1-5-1 General Specifications

Item Specifications

Model CJ1W-MCH71 CS1W-MCH71 Power supply voltage 5 VDC (from Backplane)

24 VDC (from external power supply)

Voltage fluctuation tolerance 4.5 to 5.5 VDC (from Backplane) 4.75 to 5.25 VDC (from Backplane)

21.6 to 26.4 VDC (from external power supply)

Internal current consumption 5 VDC 0.6 A max. 5 VDC 0.8 A max.

24 VDC 0.3 A max. Weight (Connectors excluded) 210 g max. 300 g max. Safety standards UL, CSA, C-TICK, and EC compliant. Dimensions (mm) 90 (H) × 79.8 (W) × 65 (D) (single) 130 (H) × 35 (W) × 100.5 (D) (single) Altitude At 2,000 m elevation or lower.

Specifications other than those shown above conform to the general specifications for the SYSMAC CS/CJ series.

1-5-2 Functions and Performance Specifications

Item Specifications

Model CJ1W-MCH71 CS1W-MCH71 Applicable PLC CJ-series PLCs with CPU Units with unit

version 2.0 or later

CS-series PLCs with CPU Units with lot number 030418 or later

(Refer to Note on page 16.)

Performance Specifications Section 1-5

Item Specifications

Type of Unit CPU Bus Unit Mounting CPU unit or expansion rack Number of Units One CJ1W-MCH71 Motion Control Unit

Method for data transfer with CPU Unit

Controlled Devices MECHATROLINK-II below supported

Built-in program language Dedicated motion control language Control Control method MECHATROLINK-II

Operating modes RUN mode, CPU mode, Tool mode/System (Depending on the tool) Automatic/Manual Mode Automatic mode: Executing built-in programs of MC Unit controls motion.

Control unit Minimum setting unit 1, 0.1, 0.01, 0.001, 0.0001

Maximum position command value −2147483647 to 2147483647 pulses (signed 32-bit)

CIO Area for CPU Bus Unit

DM Area for CPU Bus Unit

Custom Bit Area For axes: 0-64 words (Depending on the greatest number of the axis used) Custom Data Area For axes: 0-128 words (Depending on the greatest number of the axis used) Custom Data Area For General I/O: 0-1280 words (Depending on setting)

Number of controlled axes

Units mm, inch, deg, pulse

requires the space of three standard Unit.

(Refer to Note (1) on page 16.)

Occupies the area for 1 unit (25 words)

For units and tasks: 11 to 25 words (Depending on the number of motion tasks)

Occupies the area for 1 unit (100 words)

For units and tasks: 32 to 74 words (Depending on the number of motion tasks)

• W-series Servo Driver with built-in communications functions

• W-series Servo Driver (OMRON) + Communications I/F Unit (YASKAWA)

• Various I/O units (YASKAWA)

• SMARTSTEP Junior Servo Drive

Up to 30 nodes

* When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or

15 nodes (within 50m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases described above.

• Position commands, Speed commands, Torque commands

32 axes max.

Physical axes/Virtual axes: 30 axes max. (Either can be selected for each axis) Dedicated for virtual axes: 2 axes

Manual mode: Executing commands from CPU Unit (PC interface area) controls

motion.

Note The Automatic or Manual Mode is set according to the PC Interface area of the

CPU Unit.

Mode for unlimited axes feeding is possible.

Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001 mm,

10 mm/rev, the position command value range will be from −327679999 to 327679999 command units.

One slot

Performance Specifications Section 1-5

Item Specifications

Control operations based on commands from the CPU Unit

Control Operations according to motion program

Acceleration /deceleration curve Trapezoidal or S-shape Accelera-

tion/ deceleration time

Servo lock/unlock Executes Servo driver lock or unlock Jogging Executes continuous feeding independently for each axis, by means of speed set in

STEP operation Feeds a specified distance for a specified axis. Origin search Defines the machines origin according to the search method set in the system

Forced origin Forcibly sets the present position to 0 to establish it as the origin. Absolute origin set-

ting Error counter reset Forcibly resets the error counter to 0. Present position pre-

set Machine lock Prohibits the output of motion commands to the axes. Single block Executes the motion program one block at a time. Auto/manual change Switches between auto mode and manual mode. Positioning (PTP) Executes positioning independently for each axis at the speed set in the system

Linear interpolation Executes linear interpolation for up to 8 axes simultaneously at the specified interpo-

Circular interpolation Executes clockwise or counterclockwise circular interpolation for two axes at their

Origin search Defines the machine origin according to the search method set in the system param-

Interrupt feeding By means of inputs to the servo driver, moves a specified axis for a specified travel

Time-specified Positioning

Traverse function Performs winding operation (traverse control) with two specified axes. Electronic Cam,

Single Axis Synchronous Elec-

tronic cam Link operation Executes link operation according to set conditions with reference to the position of

Electronic Shaft Executes synchronous operation at a speed calculated with the speed of the speci-

Trailing synchronous operation

Speed command Outputs speed commands to the specified axis. Torque command Outputs torque commands to the specified axis.

Acceleration/ deceleration time

S-shape time constant

system parameter x override.

parameters.

Sets the origin when an absolute encoder is used.

Offset value: Signed 32-bit (pulses)

Sets the present position to a user-specified value.

parameters.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /unit

lation speed.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /system

specified interpolation speed.

Simultaneous specification: 2 or 3 axes/block

Simultaneous execution: 16 blocks max. /system

eters.

An offset can be specified for the position after the origin search.

The absolute encoder can also execute origin search.

distance to perform positioning.

Executes positioning with time specified.

Execute cam operation according to the specified cam table data with reference to

elapse of time.

Executes cam operation according to the specified cam table data with reference to

the position of the specified axis.

the specified axis.

fied axis and gear ratio.

Executes trailing + synchronous operations with reference to the position of the spec-

ified axis.

60000 ms max.

30000 ms max.

Performance Specifications Section 1-5

Item Specifications

External I/O For high-speed

servo communication bus

Servo encoder Incremental rotary encoder

I/O Deceleration stop input (or servo-OFF stop): 1 pt

External power supply for I/O

Feed rate Rapid feed rate 1 to 2147483647 [Command unit/min]

Interpolation feed rate

Override Changes the operation speed by applying a given factor to the speed specified by the

Internal override (supported for unit version 3.1 and later)

Axis control Backlash compensa-

tion

In-position This function is used whether a positioning is completed or not.

Position loop gain This is the position loop gain of the servo driver.

Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain.

Program Number of tasks Motion task: 8 tasks max.

Parallel branching in task

Number of programs 256 programs max. /unit

Program numbers 0000 to 0499: Main programs for motion tasks

Program capacity 2 Mbytes

Number of blocks 800 blocks/program Position data capac-

ity Sub-program nesting 5 levels max. Start Starts program operation from program (of another task) Start mode Motion task: Initial, continue, next Deceleration stop Motion task: Executes deceleration stop regardless of block Block stop Motion task: Executes deceleration stop at the end of the block currently being exe-

Single-block mode Motion task: the program is executed one block at a time. Breakpoints (sup-

ported for unit version 3.0 and later.)

One port for MECHATROLINK-II

Absolute rotary encoder (Unlimited length ABS supported with some conditions)

General input: 2 pts

General output: 2 pts

24 V

1 to 2147483647 [Command unit/min]

system parameters or the motion program.

0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task)

The feed rate of the following commands can be set by the motion program.

Command Rate to which override is applied

MOVE Rapid feed rate

DATUM Origin return feed rate

MOVEI Rapid feed rate, external positioning rate

MOVET Rapid feed rate

The actual feed rate is calculated using the following formula.

Actual feed rate = Axis feed rate × (Axis override + Internal override)

Compensates mechanical backlash (the mechanical play between driving and driven

axes) with a value registered in advance.

This function uses a parameter in the servo driver.

This function uses a parameter in the Servo Driver.

Motion task: 8 branches max.

The program Nos. used for programs are from 0000 to 0999.

0500 to 0999: Sub-programs for motion tasks

8000 blocks max. /unit by motion program conversion.

10240 points/unit

cuted.

Breakpoints can be set for any block using the Support Tool. When a breakpoint is set

for a block, program execution will stop after that block has been executed.

Performance Specifications Section 1-5

Item Specifications

Saving program data

Zones (supported for unit version

3.0 and later.)

Data tracing (supported for unit version 3.0 and later.)

Self-diagnostic function Watchdog, FLASH-ROM check, RAM check, etc. Error detection function Deceleration stop input, unit number error, CPU Unit error, software limit over errors,

Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as

Alarm reset Alarm reset Program and CAM data read pro-

tection (supported for unit version

3.1 and later)

MC Unit Flash memory backup

The zone bit turns ON when any variable (including feedback present position, feed-

back speed, etc.) is within the set range, and OFF when outside of the set range.

A maximum of 32 zones can be set.

A maximum of two groups can be simultaneously traced, with 1 to 16 data items in

each group.

Note The items that can be traced are bits and data. These are each handled as a

single item.

The number of data samples that can be collected is 2,048 samples when 16 items

are set for tracing to 32,768 when only 1 item is set for tracing.

etc.

needed.

Third party access to program and CAM data can be restricted using the CX-Motion-

MCH version 2.1 read protection function (password setting).

Note (1) To determine the number of MC Units that can be mounted under one

CPU Unit, examine the followings:

• Maximum number of CPU Bus Units that can be allocated words in the CPU Unit being used

• The capacity of the power supply unit used for each rack (CPU Unit and Expansion Rack) and the current consumption of the units mounted on the racks. (Refer to the CPU Unit's operation manual for details on calculation methods.)

• Number of Units (CJ1W-MCH71 only) Each MC Unit requires the space of three standard Units. Although normally up to 10 CPU Bus Units can be connected in the CPU Rack or in each Expansion Rack, a maximum of only 3 MC Units can be mounted per Rack.

(2) The user must prepare the required power supply. (3) The service life for the flash memory is 100,000 writing operations. (4) The IOWR/IORD instructions can be used with CJ-series CPU Units with

unit version 2.0 or later.

CS-series CPU Unit models are in the format CS1@-CPU@@H. The following conditions apply to certain CPU Units.

(1) CPU Units manufactured prior to January 7, 2002 (Lot No. 020107) do not

support the IOWR/IORD instruction.

(2) Standard CPU Units manufactured after April 18, 2003 (Lot No. 030418)

support the IOWR/IORD instruction.

The maximum command values and software limit values will be as shown in the following table corresponding to the position command decimal point position.

Position command decimal point

(Setting value for P5AA02)

1(0) −2147483648 to 2147483647

0.1 (1) −214748364.8 to 214748364.7

Setting ranges

Performance Specifications Section 1-5

Number of decimals

Negative definite

Positive definite

Maximum number of digits excluding 0

Maximum number of decimals

Position command decimal point

(Setting value for P5AA02)

0.01 (2) −21474836.48 to 21474836.47

0.001 (3) −2147483.648 to 2147483.647

0.0001 (4) −214748.3648 to 214748.3647

Setting ranges

The actual ranges that can be set may be smaller than those shown above depending on the pulse rate. The setting values must satisfy the following conditions:

With INC Specification:

Minimum value: −2147483648 Maximum value: 2147483647

With Limited Length Axis ABS Specification:

Minimum value: −(P5AA04 × P5AA06 × 2147483647)/(Encoder resolution × P5AA05) Maximum value: (P5AA04

× P5AA06 × 2147483647)/(Encoder resolution ×

P5AA05)

With Unlimited Length Axis ABS Specification:

Minimum value: −(P5AA04 − 1) Maximum value: P5AA04

− 1

P5AA04: Command unit/1 machine rotation P5AA05: Gear ratio 1 (Motor rotation speed) P5AA06: Gear ratio 2 (Machine rotation speed)

Example: With Limited length axis ABS specification, 1mm/rev, 16384 pulses/

rev with multiplication factor, and Minimum setting unit: 0.0001mm; The value will be from

−131072000 to 131071999.

Additionally, the present positions that can be displayed on the Support Tool are to be within the range described in the above table.

The basic concept for immediate value: There are integer and decimal immediate values; the applicable numeric value range for the MC Unit is shown below:

Integer: Numeric value without decimal point

Minimum value:

−2147483648

Maximum value: 2147483647

Decimal: Numeric value with decimal point

Minimum value:

−2147483648.

Maximum value: 2147483647. Maximum number of decimals: 30 digits Maximum number of digits excluding zero: 10 digits (Negative definite: 2147483648, Positive definite: 2147483647)

<Example> Maximum number of decimals

123456789101112131415161718192021222324252627282930

-0.00000000000000000

+0.000000000000000000002147483647

<---------------------------------------------- ---------------------------------------------------------------------->

30 digits

0002147483648

<-------------- ------------->

10 digits

Command List Section 1-6

1-6 Command List

Item Contents Page

Operating modes The following 2 modes are provided:

Manual Modes: Operation according to commands from CPU Unit PC

interface area.

Automatic Mode: Operation according to commands in program.

Manual mode

JOG STEP Origin Search

Jogging Moves axes continuously by manual operation. 476 Deceleration stop

(Axis) STEP operation Feeds a specified axis for a specified distance. 480 Manual origin search Searches for the machine origin (Possible with either Incremental or

Manual origin return Moves the axis to the origin in the reference coordinate system. 489 Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In the

Present position preset

Absolute origin setting

Decelerates manual mode operations (Jogging, STEP, Origin search) and stop.

Absolute encoder)

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

Sets the present position to a user-specified value. 512

Sets the origin for an absolute encoder. 500

384 510

472

484

498

Command List Section 1-6

Item Contents Page

Automatic Positioning (PTP) Execute positioning independently for each axis at the specified speed

Positioning with linear interpolation

Positioning with circular interpolation

Positioning with helical circular interpolation

Origin search Defines the machine origin according to the search method set in the

Interrupt feeding Moves a specified axis for a specified distance when a general input is

Time-specified positioning

Target position change

Internal Override The feed rate of the following commands can be set by the motion pro-

Traverse Execute winding (traverse) function. 311 Electronic Shaft

function Electronic cam (Sin-

gle axis) Electronic cam (Syn-

chronous) Link operation Synchronizes the slave axis to the master axis with specified accelera-

Trailing synchronization

Travel distance superimpose

Speed control Rotates the motor at the specified speed. Speed change rate can also

Torque control Generates the specified torque. Torque change rate can also be speci-

Virtual axis This is an axis without an actual axis. It is used as a master axis to per-

Counter latch The present position of an axis can be stored in hardware. 345 Switching to Pass

Mode Dwell timer Pauses positioning for a specified time. 350 Arithmetic command Performs arithmetic, function, and logic operations. 361

Program start Executes a program from the beginning block, resumes a program exe-

Single block Executes programs one block at a time. 458 Block stop Stops program execution at the end of the block being executed. 453

or the speed set in the system parameters. Executes linear interpolation at the specified interpolation feed rate for

up to 8 axes simultaneously Executes clockwise or counterclockwise 2-axis circular interpolation at

the specified interpolation feed rate. Executes clockwise or counterclockwise 2-axis circular interpolation

and 1-axis linear interpolation (i.e., helical interpolation) at the specified interpolation feed rate.

system parameters.

turned ON. Executes positioning to a specified position with time specified. 309

Changes target position of an operating axis to a specified position. 338

gram. Command Rate to which override is applied MOVE Rapid feed rate DATUM Origin return feed rate MOVEI Rapid feed rate, external positioning rate MOVET Rapid feed rate

Executes synchronous operation at a speed calculated with the speed of the specified master axis and a specified gear ratio.

Executes cam operation in a specified time period using a specified cam table.

Synchronizes the slave axis to the master axis using cam table. 320

tion, constant speed, and deceleration areas. Slave axis starts trailing master axis at the rise of marker sensor when

standing by. Once it catches up with master, synchronization starts. Superimposes travel distance of the master axis on the slave axis. It

functions like the differential gear.

be specified.

fied.

form an ideal operation.

Changes to Pass Mode, in which operations are executed continuously with no deceleration stop.

cution from the block where it was stopped, or resumes a program from the next block to the one where it was stopped.

298

300

301

305

308

264

329

313

316

331

332

333

336

282

342

363 365

443

Command List Section 1-6

Item Contents Page

Automatic/ Manual mode

Common Data tracing Traces data, such as command bits and feedback positions, using the

Data transfer and storage

Backlash compensation

Error counter reset Forcibly resets the error counter to 0, and stops axis operation.

Unlimited feed mode/ Unlimited present position display

Present position preset

Trapezoid/S-curve acceleration and deceleration

Axis alarm reset Resets alarms occurring on axes. 515 Unit alarm reset Resets alarms occurring on units. 420 Task alarm reset Resets alarms occurring on tasks. 465 Teaching Creates position data for the specified axis. 546 Deceleration stop

(Task) Override Changes the operating speed by applying a specified percentage to the

Servo-lock Establishes the position loop and turns ON the RUN command output

Servo-unlock Releases the position loop and turns OFF the RUN command output to

Machine lock Updates the position display without moving control axes. This is used

Debugging Performs program operation, stopping, single-step operation, or stop-

Zones A special bit is turned ON when any constant (e.g., feedback position)

Data transfer Transfer data from the CPU to the MC Unit and vice versa in a short

Data link Custom data can be exchanged during I/O refresh by setting custom

Saving data Stores programs, CAM data, parameters, position data, etc. in the MC

Backup and restore Backs up or restores all the data in the MC Unit using the easy backup

Compensates mechanical backlash (mechanical play between driving and driven axes) with the value registered in advance. (This is a function of the servo driver.)

(Enabled when no speed reference is given to the servo driver) Moves the axis with no limit. In this mode, data range for updating the

present position can be specified.

Changes the present position to the specified position data. 56

Either trapezoid or S-curve acceleration / deceleration can be specified for starting and stopping each axis.

Decelerates each task to a stop. 448

speed specified in the system parameters or programs.

to the servo driver.

the servo driver.

for debugging program.

Support Tool.

ping at any block from the Support Tool.

is within a set range without a special motion programming.

period of time using IOWR/IORD instruction in the ladder program.

I/O area in the words allocated in the DM area of CPU Unit.

Unit's flash memory.

function and Support Software of the CPU Unit.

203

493

559

248

462 503

474

506

570

553

571

56 221

378 402

213

566

Performance Section 1-7

1-7 Performance

Item Performance data Description

Unit cycle Tm = 1, 2, 3, 4, 6, or 8 This is the cycle in which motion tasks are exe-

Communications cycle Ts = 1, 2, 3, or 4 This is the communications cycle for MECHA-

Operation startup time and other performance

--- Refer to Appendix A Performance for details.

cuted in the MC Unit. The length of this cycle is determined by the number of axes, the number of motion tasks, the use of parallel execution, the number of allocated general-purpose words, and the communications cycle time.

Tm will be equal to Ts or twice Ts. Refer to Appendix A Performance for details.

TROLINK-II. The length of this cycle is determined by the number of allocated stations and the number of communications retries. Refer to Appendix A Performance for details.

Processing Cycle of MC Unit

Calculation Method for Unit Cycle

The MC Unit holds Control Cycle for the entire Unit and Communication Control Cycle.

The system software calculates each control cycle, and it operates using a Unit cycle to communications cycle ratio of 1:1 or 2:1.

Calculation methods for each control cycle are as follows:

• The Unit cycle is calculated.

• The Communication Cycle is calculated.

• The ratio between the Unit cycle and communications cycle is adjusted.

The basic formula for calculating the Unit Cycle is shown below: When P00004 bit 11 (number of parallel branches) is 0:

Unit cycle [ Number of parallel branches) + (0.3

µs] = (85 × Number of axes) + (120 × Number of motion tasks ×

× Number of general allocated words) +

200..... (1)

• No. of axes: No. of axes allocated in [P1AA01: Physical axis setting] (Sum of virtual and actual axes)

• No. of Motion tasks: P00001 [No. of Motion tasks]

• No. of parallel branches: P00002 [No. of parallel branches]

• No. of general allocated words:

No. of Allocated words to be used as general purpose I/O (Sum of inputs and outputs)

When P00004 bit 11 (number of parallel branches) is 1 (Supported for unit Ver. 3.0 and later):

Unit cycle [ branches i + (0.3

µs] = (85 × Number of axes) + (120 × ΣNumber of parallel

× Number of general allocated words) + 200..... (1)

ΣNumber of parallel branches i: Sum of the parallel branches set for individual

task, P00M21 Example: If two tasks are used, and the task 1 P00M21 is 4 and the task 2

P00M21 is 2, then this value will be 2 + 4 = 6.

Performance Section 1-7

Note for P00003 [Unit Scan time]

When P00003 [Unit Scan time] is greater than the result of the formula (1), the formula (2) below is to be used.

Unit Cycle [

Determining Unit Cycle

The Unit Cycle can be determined by rounding up the Unit Cycle [µs] that was found by the formula (1) or (2) to 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, or 8 ms.

If the unit cycle time exceeds 8 ms, 8 ms is set.

µs] = P00003 × 1000 ---(2)

Calculation Method for Communications Cycle

Basic formula for calculating Communications Cycle is shown below:

Communications Cycle [

102.7 + 19.2) × 1.1 ---(3)

• No. of Allocated Node: No. of MECHATROLINK-II slaves (only physical

• No. of Retries: No. of retries specified in [P00009: MECHATROLINK No.

of retrial nodes setting] (= 0-7).

If the Communications cycle was less than 1ms, the formula (4) below is to be used.

Communications cycle [

Determining Communications Cycle

The Communications Cycle can be determined by rounding up the Communications Cycle [ or 4 ms.

If the communications cycle time exceeds 4 ms, 4 ms is set.

Note The formula used in this section applies when P00004 bit 09 is 1 for a CJ1W-

MCH71 or CS1W-MCH71 Motion Control Unit with unit version 3.0 or later. If the unit version is 2.0 or earlier, or the unit is version 3.0 or later but P00004 bit 09 is 0, the following formula applies. Unit cycle [

× Number of parallel branches) + (0.3 × Number of general allocated words) +

350.0 Communications cycle [

133.3 + 26.2) × 1.1

µs] that was found by the formula (3) or (4) to 1 ms, 2 ms, 3 ms,

µs] = (115.0 × Number of axes) + (165.0 × Number of motion tasks

µs] = ((No. of allocated nodes + No. of Retries) ×

axes) allocated in [P1AA01: Physical Axis Setting]

µs] = 1000 ---(4)

µs] = ((No. of allocated nodes + No. of Retries) ×

Performance Section 1-7

Adjusting and Matching Unit Cycle and Communications Cycle

Determine the combination of the Unit Cycle and Communications Cycle using the following table:

The processing cycle time of the MC Unit can be found using the following table and the unit cycle and communications cycle times that have been calculated.

Communica-

tions cycle

1 ms 1 ms:1 ms 2 ms:1 ms 3 ms:3 ms 4 ms:2 ms 6 ms:3 ms 8 ms:4 ms 2 ms 2 ms:2 ms 2 ms:2 ms 3 ms:3 ms 4 ms:2 ms 6 ms:3 ms 8 ms:4 ms

3 ms

4 ms 4 ms:4 ms 4 ms:4 ms 4 ms:4 ms 4 ms:4 ms 8 ms:4 ms 8 ms:4 ms

1 ms 2 ms 3 ms

3 ms:3 ms 3 ms:3 ms 3 ms:3 ms

Unit cycle

4 ms:4 ms

4 ms

6 ms 8 ms

6 ms:3 ms 8 ms:4 ms

Example: If the unit cycle time calculated under Calculation Method for Unit

Cycle is 4 ms (*1) and the communications cycle time calculated under Calculation Method for Communications Cycle is 3 ms (*2), the MC Unit processing

time, which combines the unit cycle time and communications cycle time, would be 4 ms:4 ms (*3).

Performance Section 1-7

SECTION 2

Basic Procedures

This section provides an overview of the basic procedures required to use the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units.

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2 Overview of CX-Motion-MCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-2-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2-2-2 Installing and Uninstalling the Software. . . . . . . . . . . . . . . . . . . . . . 29

2-2-3 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Basic Operation Flow Section 2-1

2-1 Basic Operation Flow

This Section gives an overview of the procedures required to use a MC Unit.

OPR. Operation Flow Reference

Setup SECTION 3 Installation and Wiring

Connect Support Tool/CX-Programmer

Connect MC Unit with External Input Devices

Connect Servo Driver and Servomotor

Connect Servo Driver and MC Unit

START

Install MC Unit

Set Unit No. for MC Unit

3-2 Installation 3-1 Nomenclature and Functions 3-4 Wiring

MC Unit Setting

Turn ON the Power to the PLC

Create the I/O table of PLC

Set MC Unit Allocation Area in PLC DM Area

Power OFF and ON the PLC

Use CX-Motion-MCH to set the system parameters, transfer them to MC Unit, and save them to flash

Use CX-Motion-MCH to create motion programs and position data. Transfer them to MC Unit and save them to flash memory.

Turn ON the power to the PLC or restart MC Unit to enable settings.

Users Manual for CS/CJ Series CPU Unit

SECTION 7 PC Interface Area 7-3 Allocations for the CPU Unit SECTION 4 MC Unit Internal Data

Configuration and Setting 4-2 System Parameters 4-4 Position Data SECTION 6 Programming

Basic Operation Flow Section 2-1

OPR. Operation Flow Reference

Tr i al O PR SECTION 7 PC Interface Area

Use Manual Mode to execute Servo Lock

Use Manual Mode to execute Jogging

Use Manual Mode to execute Origin Search

Switch to the Automatic Mode to start the motion program from PLC and operate the system.

Debug SECTION 11 Troubleshooting

7-3 Allocations for the CPU Unit 7-4 Interface Specifics SECTION 8 Establishing the Ori-

gin

Error Occurrence

YES

Check LED display on the MC Unit

Read Alarm codes of MC Unit

Eliminate the cause of error and clear it.

Run SECTION 10 Program Example

Run PLC to operate MC Unit

Maintenance

Maintenance and inspection

Replacing a MC Unit

•

Replacing Servo driver

•

Replacing the NS115

•

SECTION 12 Maintenance and Inspection

END

Note For details of the procedure, refer to HELP of the Support Tool.

Overview of CX-Motion-MCH Section 2-2

2-2 Overview of CX-Motion-MCH

The CX-Motion-MCH is a software package that can be used to set, create, and print various data required to control MC Units (such as system parameters, position data, motion task programs, and CAM data), transfer the data to and from the MC Unit, and monitor the operating status of the MC Unit.

The CX-Motion-MCH runs on Windows 98, Me, NT 4.0, 2000, XP, or Vista.

2-2-1 Functions

Group Function Details

Editing projects Create project Used to create project files (*.mnh)

Add/delete Motion Control Unit

Add/delete motion task

Add/delete axis Used to add or delete axes in a project. Add/delete program Used to add or delete programs in a

Add/delete subprogram

Add/delete CAM table

Editing data Edit system parame-

Saving and reading project files

Importing and exporting data

Backup and Restore Backup and Restore Backs up the origin compensation

Printing Print Used to print various project data.

ters

Edit servo parameters

Edit motor parameters

Edit position data Used to edit position data. Edit program or sub-

program Edit CAM table Used to edit CAM tables. Edit symbol Used to edit symbols. Save project Used to save data as a project file

Read project Used to read a project file (*.mnh). Import

Export Used to export position data, programs,

Used to add or delete MC Unit data in a project.

Used to add or delete motion tasks in a project.

project. Used to add or delete subprograms in a

project Used to add or delete CAM tables in a

project.

Used to edit system parameters (unit settings, tasks, and settings).

Used to edit servo parameters.

Used to edit motor parameters.

Used to edit programs or subprograms.

(*.mnh).

Used to import CX-Motion-MCH files, position data, programs, and CAM data.

and CAM data.

value.

Overview of CX-Motion-MCH Section 2-2

Group Function Details

Online Initial setting Used to setup CPU Unit or MC Unit.

Communications setting

Download

Upload Compare

Write to flash memory

Status monitor

General monitor

Tes t Ru n

Debug the Program

Data Trace Data Trace

Error Error log

Error information

Program and CAM data read protection

Used to make settings for communications with the PLC.

Used to download, compare, or upload system parameters, servo parameters, position data, programs, and CAM data.

Used to write RAM data inside the MC Unit to flash memory inside the MC Unit.

Used to display the error information, program number in progress, and axes’ present positions.

Used to display and change the MC Unit’s variables, such as the system variables, global variables, input variables, output variables, position data, and task variables.

Used to execute the following operations: Servo locks, JOG operations, STEP operations, origin searches, origin returns, forced origins, setting an absolute origin, teaching, and resetting errors.

Used to debug the motion program. Motion programs can be debugged by setting breakpoints and by using single step execution.

Used to set the trigger conditions and items. The results of the trace operation are displayed graphically.

Used to display the error log.

Used to display error code and error name.

Third party access to program and CAM data can be restricted using the read protection function (password setting).

2-2-2 Installing and Uninstalling the Software

Required Software The following software must be installed on the same computer to use the CX-

Motion-MCH.

1. CX-Motion-MCH

2. CX-Server (the communications driver, including the CX-Server Driver Management Tool)

■ CX-Motion-MCH Availability

The CX-Motion-MCH is available only as a component of the CX-One FA Inte-

grated Tool Package.

Refer to the CX-One Ver.2.1 Setup Manual (W463, provided with the CX-One) for the

Overview of CX-Motion-MCH Section 2-2

CX-One installation and uninstallation procedures.

Cat. No. Model Manual name Contents

W463 CXONE-AL@@C-EV2

/AL@@D-EV2

CX-One Ver.2.1 Setup Manual An overview of the CX-One

FA Integrated Tool Package and the CX-One installation procedure

2-2-3 Operation Procedure

The overall procedure for using the CX-Motion-MCH is given below. Refer to the SYSMAC CX-Motion-MCH Operation Manual (W448) for details.

Installing CX-Motion-MCH

Installing CX-Server

Connecting to Built-in RS-232C port on CPU Unit

Starting CX-Motion-MCH

Creating a New Project

Adding MC Unit to Project

CX-Motion-MCH Basic Window

Adding Tasks, Axes, Programs,

and CAM Data to MC Unit

Editing/Transferring MC Unit's System

Parameters, Servo Parameters, Position

Data, Programs, and CAM Data

Writing to Flash Memory

MC Unit Monitoring

Saving Project

Quitting CX-Motion-MCH

SECTION 3

Installation and Wiring

This section describes the names of Unit parts and how to install and wire the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units.

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-1-2 Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-2-2 Mounting to the Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-2-3 Unit Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-3-1 MECHATROLINK-II Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-3-2 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-3-3 Wiring Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-3-4 I/O Circuits (CJ1W-MCH71 and CS1W-MCH71 Units Version 3.0

3-3-5 I/O Circuits (CS1W-MCH71 Unit Version 2.0 and Earlier) . . . . . . . 41

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-4-1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3-5-1 Method of Connecting MECHATROLINK Devices . . . . . . . . . . . . 44

3-5-2 Servo Driver (W-series WT@@@) . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3-5-3 24 VDC I/O Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

3-5-4 Counter Module, Pulse Output Module . . . . . . . . . . . . . . . . . . . . . . 51

and Later) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Nomenclature and Functions Section 3-1

3-1 Nomenclature and Functions

3-1-1 Nomenclature

LED Indicators

UNIT No. Setting switch

MECHATROLINK-II connector

T.B connector, SSI connector (Cannot be used)

I/O connector

LED Indicators

Name Color Status Content

RUN (RUN)

ERC (MC Unit Error)

ERH (CPU Unit Error)

ER1 (See note.) (Internal error status)

ER2 (See note.) (Internal error status)

ER3 (See note.) (Internal error status)

ER4 (See note.) (Internal error status)

SSI Yellow Lit Not used.

MLK (MECHATROLINK-II)

Green Lit Motion Control Unit is operating normally.

Not lit Not recognized by PLC, or MC Unit is broken.

Red Lit An error has occurred in the MC Unit.

Not lit MC Unit is operating normally.

Red Lit An error has occurred in the CPU Unit.

Not lit CPU Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

Not lit Not used.

Yellow Lit MLK is operating normally.

Not lit An error has occurred in the MLK.

Unit Number Setting Switch

Note When the ERC or ERH indicator is lit, these four indicators show the internal

error status.

Several MC Units can be mounted on one CS/CJ series PLC. It is necessary to set the unit numbers to identify these units when several MC

or CPU Bus Units are mounted.

Nomenclature and Functions Section 3-1

(

)

The rotary switch located on the forehead of MC Unit can set the unit numbers.

(Examples)

!Caution Please check if the power is OFF when you start the settings.

DIP Switch on the Back Panel of the Unit

←

Note If the power is turned ON under this setting, the MC Unit will be started after

Unit Number: 6 Unit Number: 12

Hexadecimal

The maximum of 16 MC Units can be mounted to one CS-series PLC, and a maximum of 12 MC Units can be mounted to one CJ-series PLC.

With a CJ-series PLC, up to 10 CPU Bus Units can normally be connected in the CPU Rack or in each Expansion Rack. Each CJ1W-MCH71 MC Unit, however, requires the space of three standard Units. Therefore, a maximum of only 3 MC Units plus one other CPU Bus Unit can be mounted per Rack.

The same unit number cannot be used twice in one PLC.

These switches are inside the case and are used for special purposes like shipping inspection mode, etc. Therefore, do not operate them.

12 Status

OFF OFF Normal operation ON OFF Reserved for shipping inspection by OMRON (Do not set.) OFF ON Reserved for shipping inspection by OMRON (Do not set.) ON ON Reserved for shipping inspection by OMRON (Do not set.) (See

note.)

various user settings are set beck to their factory default values.

3-1-2 Area Allocations

Word Allocations Using Unit Numbers

CPU Bus Unit Allocated Bit Area

The bit and DM areas used by the MC Unit are allocated based on the unit number.

The bit area is allocated 25 words for each unit number starting from the word

1500.

0 Words 1500-1524 8 Words 1700-1724 1 Words 1525-1549 9 Words 1725-1749 2 Words 1550-1574 10 Words 1750-1774 3 Words 1575-1599 11 Words 1775-1799 4 Words 1600-1624 12 Words 1800-1824 5 Words 1625-1649 13 Words 1825-1849 6 Words 1650-1674 14 Words 1850-1874 7 Words 1675-1699 15 Words 1875-1899

Unit number Bit area Unit number Bit area

Installation Section 3-2

CPU Bus Unit Allocated DM Area (DM Parameter Area)

The DM area is allocated 100 words for each unit number starting from the words D30000.

Unit number DM area Unit number DM area

0 Words 30000-30099 8 Words 30800-30899 1 Words 30100-30199 9 Words 30900-30999 2 Words 30200-30299 10 Words 31000-31099 3 Words 30300-30399 11 Words 31100-31199 4 Words 30400-30499 12 Words 31200-31299 5 Words 30500-30599 13 Words 31300-31399 6 Words 30600-30699 14 Words 31400-31499 7 Words 30700-30799 15 Words 31500-31599

3-2 Installation

3-2-1 System Configuration Precautions

CJ1W-MCH71 • When using the IOWR/IORD instructions for the MC Unit, be sure that a

version 2.0 or later CJ1-H/CJ1M CPU Unit is being used.

• I/O bit numbers of the CPU Bus Unit are allocated based on the setting of the Unit Number Setting Switch on the front panel of the Unit, not on the position in which the Unit has been connected.

• MC Units can be connected in either the CPU Rack or in Expansion Racks. A maximum of 3 MC Units can be connected per Rack. The total number of MC Units for the CPU Rack and all Expansion Racks is thus 12 MC Units maximum.

• When mounting a relay output unit on the very right of the MC Unit, make sure to use the surge absorber for the relay output line.

MC Unit Make sure to use the surge absorber for the

When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50 m), no repeater unit is required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

CS1W-MCH71 • When using the IOWR/IORD instructions for the MC Unit, be sure that the

CS1@-CPU@@H CPU Unit being used was manufactured on April 18, 2003 (Lot No. 030418) or later.

• The I/O words allocated to a CPU Bus Unit are based on the setting of the unit number setting switch on the front panel of the Unit, not on the position in which the Unit has been mounted.

• The Units can be mounted to the CS1W-BC@@3 or CS1W-BC@@2 CPU Backplane, or the CS1W-BI@@3 or CS1W-BI@@2 Expansion Backplane.

contact output of this relay output unit.

Installation Section 3-2

• When mounting a relay output unit on the very left of the MC Unit, make sure to use the surge absorber for the relay output line.

MC Unit

Make sure to use a surge absorber for the contact output of this Relay Output Unit.

3-2-2 Mounting to the Backplane

CJ1W-MCH71 Use the following steps to mount or remove MC Units.

The Units that make up a CJ-series PLC can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the same way to the Unit on the far right side of the PLC. Follow the procedure listed below to connect PLC components.

1,2,3... 1. The following diagram shows the connection of two Units that make up a

CJ-series PLC. Join the Units so that the connectors fit exactly.

Hook holes

PA205R

Hook

Connector

-2

L2/N

RUN

ERR/ALM

-C

INH

L E

PRPHL

N T

COMM

OPEN

PERIPHERAL

2. The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders toward the back of the Units as shown below until they click into place.

Note If the locking tabs are not secured properly, the CJ-series may not

function properly. Be sure to slide the locking tabs until they are securely in place.

Move the sliders toward the back until they lock into place.

PA205R

-2

L2/N

RUN

ERR/ALM

INH

PRPHL

COMM

OPEN

P W

Lock

Release

PERIPHERAL

POR

Slider

Installation Section 3-2

3. Attach the End Cover to the Unit on the far right side of the Rack.

Note If the sliders are not locked securely, the MC Unit may not function properly.

Be sure the sliders are completely locked into place.

To separate two Units, slide the sliders to the release position to release the lock.

CS1W-MCH71

1,2,3... 1. Hook the top mounting hooks on the base of the Unit on the Backplane.

Mounting hooks

Backplane

2. Correctly insert the Unit into the Backplane connectors.

Duct

MC Unit

Duct

Phillips screwdriver

20 mm min.

Backplane

20 mm min.

3. Tighten the screw on the bottom of the Unit with a Phillips screwdriver. Leave enough space for ventilation and accessibility between the Unit and the ducts for attachment and removal of the Unit as shown in the figure below.

Note Tighten the bottom screw to a torque of 0.4 N·m.

To remove the Unit, loosen the screw on the bottom of the Unit with a Phillips driver, and then lift the Unit from below.

3-2-3 Unit Handling Precautions

Always turn OFF the CPU Unit before mounting or removing a MC Unit or connecting or disconnecting cables to or from the MC Unit.

Place the port connecting cables in a different duct from those for high-voltage lines or power lines to prevent the effects of electrical noise from these lines.

Installation Section 3-2

omron

Do not remove the protective label from the top of the unit until wiring has been completed. This label prevents wire strands and other foreign matter from entering the Unit during wiring. Remove the label after wiring has been completed to allow air circulation needed for cooling.

Remove label after wiring

3-2-4 Dimensions

CJ1W-MCH71

90 mm

Front Side

omron

79.8 mm

65 mm

External I/O Circuitry Section 3-3

CS1W-MCH71

130

100.5

104

3-3 External I/O Circuitry

3-3-1 MECHATROLINK-II Connector

Item Description

Connector name CN1 MECHATROLINK-II connector Applicable connector USB connector DUSB-ARA41-T11 (DDK) Mating connector USB connector DUSB-APA41-B1-C50 (DDK) *Including shell. Pin arrangement

No. Signal I/O Description

1 (NC) --- --2SRD− I/O Send/Receive Data (−) 3 SRD+ I/O Send/Receive Data (+) 4 SLD --- Shield Ground

MECHATROLINK-II Standard Cable

USB connectors on both ends: JEPMC-W6003-**

3-3-2 I/O Connectors

Item Classification Component and Maker

Connector name CN2 I/O connector Applicable connec-

tor Mating connector Connector

MDR connector 10214-52A2JL (3M)

10114-3000VE (3M)

Housing

10314-52F0-008 (3M)

External I/O Circuitry Section 3-3

Item Classification Component and Maker

Pin arrangement

No. Signal I/O Description No. Signal I/O Description

1 DI_24V P DI common 8 DI_24V P DI common 2 DI_00 I DI input (Decel-

eration stop) 3 DI_02 I DI input 1 10 DI_03 I DI input 2 4 --- --- --- 11 --- --- --5 DO_24V P --- 12 DO_24V P --6 DO_COM P DO common 13 DO_COM P DO common 7 DO_00 O.C. DO00 output 14 DO_01 O.C. DO01 output P: Power supply input

I: Input signal O.C.: Open collector output

CJ1W-MCH71 Pin Arrangement

9 DI_01 I DI input

(Reserved)

3-3-3 Wiring Connectors

Procedure:

1,2,3... 1. Pass each wire through heat-shrink tubing.

2. Spot-solder the wires and connector terminals

3. Solder the wires

1 mm

Soldering gun

Heat-shrink tube Inner diameter:1.5, r=10

4. Pull the heat-shrink tubing back over the soldered area and heat the tubing to shrink it.

External I/O Circuitry Section 3-3

Heat-shrink tube

3-3-4 I/O Circuits (CJ1W-MCH71 and CS1W-MCH71 Units Version 3.0

and Later)

Connector Interface Circuits

Item Specifications Circuitry

Max. Output Current

Leakage current 1 mA max. Residual Voltage 1.5 V max. External Supply

Vol tage Number of Com-

mon

100 mA/24 VDC

24 VDC ±10%

• 24VDC Digital Output (2 outputs)

33 kΩ

Internal circuits

33 kΩ

Fuse

DO_00

DO_01

24 VDC

DO_COM

External I/O Circuitry Section 3-3

• 24 VDC Digital Input

Item Specifications Circuitry

Rated Input Voltage

Rated Input Current

ON Voltage 14 V min. OFF Current 6 V max. ON Response

Time OFF Response

Time Number of com-

mons

24 VDC ±10%

4.02 to 4.52 mA (24 VDC)

1 ms max.

DI_00

DI_01

2.7 kΩ

0.1 µF

2.7 kΩ

0.1 µF

2.7 kΩ

680 Ω

DI_02

DI_03

24 VDC

DI_24V

2.7 kΩ

0.1 µF

2.7 kΩ

0.1 µF

2.7 kΩ

680 Ω

3-3-5 I/O Circuits (CS1W-MCH71 Unit Version 2.0 and Earlier)

Connector Interface Circuits

Item Specifications Circuitry

Max. Output Current

Leakage current 1 mA max. Residual Voltage 1.5 V max. External Supply

Vol tage Number of Com-

mon

100 mA/24 VDC

24 VDC ±10%

• 24 VDC Digital Output (2 outputs)

DO_00

33 kΩ

Internal circuits

33 kΩ

Fuse

DO_01

24 VDC

DO_COM

Wiring Section 3-4

• 24 VDC Digital Input

Item Specifications Circuitry

Rated Input Voltage

Rated Input Current

ON Voltage 9.5 V min. OFF Current 4.5 V max. ON Response

Time OFF Response

Time Number of com-

mons

24 VDC ±10%

4.06 to 4.48 mA (24 VDC)

1 ms max.

DI_00

DI_01

2.7 kΩ

0.01 µF

2.7 kΩ

0.01 µF

2.7 kΩ

1 kΩ

24 VDC

3-4 Wiring

3-4-1 Wiring Precautions

Heed the following precautions when wiring the MC Unit to the servo drivers and motors.

Electronically controlled equipment may malfunction because of noise generated by power supply lines or external loads. Such malfunctions are difficult to reproduce; hence, determining the cause often requires a great deal of time.

The following tips should aid in avoiding noise malfunction and improving system reliability.

Use electrical wires or cables of designated sizes as specified in the instruction manual for the servo driver.

Separate power cables (AC power supply lines and motor power supply lines) from control cables (pulse output lines and external input signal lines). Do not group the two types of cable together or place them in the same conduit.

Using the laminated ceramic capacitor of 1 power supply will improve noise-resistance.

Use shielded cables for control lines. For inductive loads such as relays or solenoid valves, connect surge ab-

sorbers.

DI_02

DI_03

DI_24V

2.7 kΩ

0.01 µF

2.7 kΩ

0.01 µF

2.7 kΩ

1 kΩ

Internal circuits

µF for the output of 24 VDC

Connecting MECHATROLINK Devices Section 3-5

The connecting cable for the servo driver must be the specified cable with ring core.

DC Relay AC Relay

Surge-absorbing diode

Solenoid

Surge absorber

Note (1) Connect a surge-absorbing diode or surge absorber close to the relay.

Use a surge absorbing

diode with a voltage tolerance at least five times

greater than the circuit voltage.

(2) Noise may interfere from the power supply line if the same power supply

as the electric welder or spark erosion machine is used for the MC Unit, or if there is a source of high-frequency noise around. If it occurs, insert

the noise filter at the input section of the power supply. (3) Use the twisted pair-cable for the power line. (4) Provide grounding of 100

Ω or less and use the thickest possible wire,

greater than 1.25 square mm.

3-5 Connecting MECHATROLINK Devices

This section explains the method of connecting the MC Unit to devices with MECHATROLINK-II.

(As for the method of setting parameters, refer to 10-2 Slave Modules (page 607).)

Note For details, refer to YASKAWA ELECTRIC CORPORATION’s

SGDH MECHATROLINK-II APPLICATION MODULE USER’S MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

Σ-II SERIES

Connecting MECHATROLINK Devices Section 3-5

3-5-1 Method of Connecting MECHATROLINK Devices

Connection cable To connect MECHATROLINK devices to MC units, use the connecting cables

(sold separately) in the table below.

Name Model (OMRON) Model (YASKAWA) Length

MECHATROLINK-II cable (For W-series or SMARTSTEP Junior Servo Drive) (With ring core and USB connector on both ends)

The terminating resistance (sold separately) in the table below should be connected to the MECHATROLINK-II termination.

Name Model (OMRON) Model (YASKAWA)

Terminating resistance for MECHATROLINK-II

Repeater unit When MECHATROLINK-II devices are connected up to 16 nodes (within

30 m) or 15 nodes (within 50 m), no repeater unit is required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases above.

Name Model (OMRON) Model (YASKAWA)

Repeater for MECHATROLINK-II FNY-REP2000 JEPMC-REP2000

FNY-W6003-A5 JEPMC-W6003-A5 0.5 m FNY-W6003-01 JEPMC-W6003-01 1.0 m FNY-W6003-03 JEPMC-W6003-03 3.0 m FNY-W6003-05 JEPMC-W6003-05 5.0 m FNY-W6003-10 JEPMC-W6003-10 10.0 m FNY-W6003-20 JEPMC-W6003-20 20.0 m FNY-W6003-30 JEPMC-W6003-30 30.0 m

FNY-W6022 JEPMC-W6022

3-5-2 Servo Driver (W-series WT@@@)

W-series Servo Driver requires YASKAWA MECHATROLINK-II Interface Unit model JUSP-NS115.

Each version of the following products can be used. The version name is indicated on the nameplates of each product.

W-series Servo Driver: Ver.39 or later I/F Unit: VER.***03 or later

Note Using either a W-series Servo Driver or an I/F Unit of older versions can be

the cause of abnormal operations. Make sure to use the versions mentioned above.

Connecting MECHATROLINK Devices Section 3-5

Attaching I/F Unit NS115

(1)

(3)

OMRON R88D-W****

(2)

(1) Remove the connector cover of

the option connector (CN10) on W-series Servo Driver.

(2) Attach NS115.

(3) For grounding, connect the

ground wire of NS115 to the part indicated as "G" on the top surface of the W-series Servo Driver.

Communications setting Set MECHATROLINK communications using SW1and SW2.

Transmission setting

MECHATROLINK communications can be specified using the DIP switches (SW2). See the table below.

Any change of the settings becomes valid after turning OFF the power once, then ON again.

SW2 Name Setting Content Default setting

Bit 1 Baud rate OFF 4 Mbps ON (Do not

ON 10 Mbps

Bit 2 No. of Transmitted bytes OFF 17 bytes ON (Do not

ON 30 bytes

Bit 3 Station address OFF Refer to Station

Bit 4 Reserved OFF --- OFF

OFF 1 2 3

SW2 (Default setting)

address setting

change.)

OFF

Connecting MECHATROLINK Devices Section 3-5

Station address setting

The station address can be set as shown in the table below using the rotary switch (SW1) and piano switch (SW2 bit 3).

The piano switch 3 of SW2 specifies the number of 10s and SW1 specifies the number of units.

Do not change the setting while the power is being supplied.

Bit 3 of SW2 SW1 Station No. SW1 default setting

OFF 0 Do not set. 1

1 to F 1 to 15 (1 to FH)

ON 0 to F 16 to 30 (10H to 1EH)

SW1

Example of connecting I/O signals

Backup battery (See note 2.)

+24V

Origin return deceleration LS (LS is valid when ON) (See note 3.)

Forward run prohibited (Prohibited when OFF)

Reverse run prohibited (Prohibited when OFF)

External latch 1 (Latch when ON) (See note 3.)

External latch 2 (Latch when ON) (See note 3.) External latch 3 (Latch when ON) (See note 3.)

A typical connecting example with standard settings (default settings) is shown here.

W driver, NS115

CN1

BAT

−

+24VIN

−

DEC

P-OT

N-OT

EXT1

EXT2

EXT3

3.3 KΩ

Connector shell

Connect shield to connector shell.

ALO1

Alarm code output

ALO2

Max. operating voltage: 30 VDC Max. operating current: 20 mA (DC)

ALO3

Positioning completed

COIN+

(ON when P. completed)

COIN−

BK+

BK output (ON when brake released) (See note 3.)

BK−

S-RDY+

Servo ready output (ON when ready)

S-RDY−

ALM+

Servo alarm output (OFF with alarm)

ALM−

Photo coupler output Max. operating voltage: 30 VDC Max. operating current: 50 mA (DC)

Note (1) P indicates twisted-pair wires.

(2) When using an ABS encoder, connect a backup battery only when there

is no battery connected to CN8. (3) Allocate signals using parameters.

Connecting MECHATROLINK Devices Section 3-5

CN1 terminal layout

2 SG

SG GND

12 37

14 39

16 41

18 43

20 45

BAT(−)

GND

Battery (−)

11 36

13 38

15 40

17 42

19 44

BAT(+)

23 48

GND

Battery (+)

/BK+

(See note 3.)

/S-RDY+

ALM+

ALO1

ALO3

/DEC

(See note 3.)

N-OT

/EXT2

(See note 3.)

+24VIN

Brake interlock output

Servo ready output

Servo alarm output

Alarm code output (Opencollector output)

Origin return deceleration LS input

Reverse run prohibited input

External latch signal 2 input

External power supply input

/COIN-

/BK-

(See note 3.)

/S-RDY-

ALM-

ALMO2

P-OT

/EXT1

(See note 3.)

/EXT3

(See note 3.)

Positioning complete output

Brake interlock output

Servo ready output

Servo alarm output

Alarm code output

Forward run prohibited input

External latch signal 1 input

External latch signal 3 input

24 49

/COIN

Positioning completed output

Note (1) Connector shell: Connected to FG (Frame ground)

(2) Do not use unused terminals for relays. (3) Allocate signals using parameters. (4) For details, refer to YASKAWA ELECTRIC CORPORATION’s

RIES SGDH MECHATROLINK-II APPLICATION MODULE USER’S

MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

3-5-3 24 VDC I/O Module

Communications setting Set MECHATROLINK communications using SW1 and SW2.

OFF 1 2 3 4

SW1 (Default setting)

Σ-II SE-

Connecting MECHATROLINK Devices Section 3-5

Transmission settings

MECHATROLINK communications can be specified using the DIP switch (SW1). See the table below.

Any change of the settings becomes valid after turning OFF the power once, and then ON again.

SW2 (Default setting)

SW1 Name Setting Content Default setting

1 Baud rate OFF 4 Mbps ON (Do not set to

2 No. of Transmitted bytes OFF 17 bytes OFF

3 Station address OFF Refer to Station

--- Reserved OFF --- OFF

ON 10 Mbps

OFF.)

ON 30 bytes

OFF

address setting

Station address setting

Station address can be set as shown in the table below using the rotary switch (SW2) and piano switch (SW1 bit 3).

The bit 3 of SW1 specifies the number of 10s while the SW2 specifies the number of units.

Do not change the setting while the power is being supplied.

Bit 3 of SW1 SW2 Station address SW2 default setting

OFF 0 Do not set. 0

1 to F 1 to 15 (1 to FH)

ON 0 to F 16 to 30 (10H to 1EH)

64-point I/O module (IO2310) connector pin layout, signal names, and wiring example

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

Connecting MECHATROLINK Devices Section 3-5

(IN1 connector)

24 VDC

Reserved

DCPWR DCPWR

Input 32

Input 30

Input 28

Input 26

Input 24

Input 22

Input 20

Input 18

Input 16

Input 14

Input 12

Input 10

Input 8

Input 6

Input 4

Input 2

Reserved Reserved

DCPWR DCPWR

Reserved

Input 31

Input 29

Input 27

Input 25

Input 23

Input 21

Input 19

Input 17

Input 15

Input 13

Input 11

Input 9

Input 7

Input 5

Input 3

Input 1

(IN2 connector)

24 VDC

Reserved

DCPWR DCPWR

Input 64

Input 62

Input 60

Input 58

Input 56

Input 54

Input 52

Input 50

Input 48

Input 46

Input 44

Input 42

Input 40

Input 38

Input 36

Input 34

Reserved Reserved

DCPWR DCPWR

Reserved

Input 63

Input 61

Input 59

Input 57

Input 55

Input 53

Input 51

Input 49

Input 47

Input 45

Input 43

Input 41

Input 39

Input 37

Input 35

Input 33

Connecting MECHATROLINK Devices Section 3-5

(OUT1 connector)

24 VDC

Load Fuse

24 VDC

DCGND2

DCPWR2 DCPWR2

Output 32

Output 30

Output 28

Output 26

Output 24

Output 22

Output 20

Output 18

Output 16

Output 14

Output 12

Output 10

Output 8

Output 6

Output 4

Output 2

DCGND1 DCGND1

DCPWR1 DCPWR1

DCGND2

Output 31

Output 29

Output 27

Output 25

Output 23

Output 21

Output 19

Output 17

Output 15

Output 13

Output 11

Output 9

Output 7

Output 5

Output 3

Output 1

Fuse Load

(OUT2 connector)

24 VDC

Load Fuse

24 VDC

Reserved

DCPWR DCPWR

Output 64

Output 62

Output 60

Output 58

Output 56

Output 54

Output 52

Output 50

Output 48

Output 46

Output 44

Output 42

Output 40

Output 38

Output 36

Output 34

Reserved Reserved

DCPWR DCPWR

Reserved

Output 63

Output 61

Output 59

Output 57

Output 55

Output 53

Output 51

Output 49

Output 47

Output 45

Output 43

Output 41

Output 39

Output 37

Output 35

Output 33

Fuse Load

Connecting MECHATROLINK Devices Section 3-5

3-5-4 Counter Module, Pulse Output Module

Communications setting For counter modules and pulse output modules, MECHATROLINK communi-

cations can be set using the DIP switches.

SW (Default setting)

1 2345678

OFF

Transmission setting

MECHATROLINK communications can be specified using the DIP switches (SW) 6 to 8.

See the table below. Any change of the settings becomes valid after turning OFF the power once,

then ON again.

Pin Name Setting Content Default setting

6 Baud rate OFF 4 Mbps OFF

ON 10 Mbps

7 Transmission bytes OFF 17 byte OFF

ON 30 byte

8 Station address OFF Refer to Station

address setting

ON (Do not set to OFF.)

Station address setting

Station address can be set as shown in the table below using the DIP switch 1 to 5 (SW).

The bit 5 of SW specifies the number of 10s while the bit 1 to 4 of SW specifies the number of units.

Do not change the setting while the power is being supplied.

SW Station address

54321

OFF OFF OFF OFF OFF Do not set. OFF OFF OFF OFF ON 1 (01H): Default setting OFF OFF OFF ON OFF 2 (02H) OFF OFF OFF ON ON 3 (03H) to to OFFONONONON15 (0FH) ON OFF OFF OFF OFF 16 (10H) ON OFF OFF OFF ON 17 (11H) ON OFF OFF ON OFF 18 (12H) ON OFF OFF ON ON 19 (13H) to to ON ON ON ON ON Do not set.

Connecting MECHATROLINK Devices Section 3-5

Counter module (PL2900) Circuit Configuration and signal connection

Counter 1 phase-A pulse

Counter 1 phase-B pulse

+−

24 VDC

Counter 2phase-A pulse

Counter 2 phase-B pulse

+−

PHA1

PHA1+

PHA1

PHB1

2.7 kΩ

180 Ω

4.7 kΩ

2.7 kΩ

Counter module

4.7 kΩ

620 Ω

Counter 1 External latch

8L1

Counter 1

10 RST1

14L2

external current value reset

Counter 2 External latch

Counter 2 external

PHB1+

6PHB1

PHA2

PHA2+

PHA2

180 Ω

4.7 kΩ

2.7 kΩ

180 Ω

4.7 kΩ

620 Ω

4.7 kΩ

620 Ω

current value reset

PHB2

PHB2+

PHB2

2.7 kΩ

180 Ω

4.7 kΩ

620 Ω

15RST2

External input common

+−

12IN

24 VDC

+ −

24 VDC

PHA1−5PHB17PHB1+9N1

2 PHA14PHA1+6PHB1−8L1

Signal arrangement of the terminal block

11 OUT−13N2

10 RST112IN−

15 RST217PHA2−19PHB221PHB2+23+24V

14 L2

16 PHA218PHA2+20PHB2−220(24V)

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

Connecting MECHATROLINK Devices Section 3-5

Pulse output module (PL2910)

Overheat input status

Excitation timing input status

External power

− +

supply +5 VDC

5 VDC

External power supply 0VDC (+5VDC)

Home position signal input status

Generalpurpose input status

External power

− +

supply +24 VDC

5 VDC

External power supply 0 VDC (+24 VDC)

Circuit configuration and signal arrangement

Pulse output module

OVER

TIMING

+5V15

0V(5V)14

ZERO

IN1921

+24V23

0V(24V)22

CCW1 3

CC1 5

C-OFF1 7

B-FREE1 9

+5V

0V(5V)1514

OUT1 17

+24V

0V(24V)2322

CCW

Output current OFF output

Electromagnetic brake release output

General-purpose output

External power supply+24 VDC

External power supply 0 VDC (+24 VDC)

− +

5 VDC

− +

5 VDC

Signal arrangement of the terminal block

1 FG

3 CCW15CW17COFF19BFRE111OVER113TIMG115+5V

17 OUT119ZERO121IN1

2 CCW24CW26COFF28BFRE210OVER212TIMG2140(5V)16OUT218ZERO220IN2

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Controller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL NO. SIEZ-C887-5.1*)”.

23 +24V

22 0(24V)

Connecting MECHATROLINK Devices Section 3-5

SECTION 4

MC Unit Internal Data Configuration and Setting

This section describes the data configuration uses to set up, operate, and monitor the CJ1W-MCH71 and CS1W-MCH71 Motion Control Units and related devices.

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4-1-1 DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4-1-2 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2-1 Description of System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4-2-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4-2-3 Data Configuration and Content of System Parameters . . . . . . . . . . 66

4-2-4 Concept of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

4-2-5 Timing that Enables Transferred System Parameters. . . . . . . . . . . . 105

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

4-3-1 Overview of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

4-4 Position Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

4-4-1 Position Data Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

4-4-2 Position Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

4-4-3 Indirect Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

4-4-4 Methods Used to Read, Write and Transfer Position Data. . . . . . . . 110

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

4-5-1 System Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

4-6-1 I/O Variables Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

4-6-2 List of Input Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

4-6-3 List of Output Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

4-7 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

4-8 Servo Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

4-8-1 Servo Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

4-8-2 Data Configuration and Contents of Servo Parameters . . . . . . . . . . 192

4-8-3 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

4-8-4 Setting Method Using Combination of W Series and NS115 . . . . . 206

4-9 CAM Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

OMRON CS1W-MCH71 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

CS1W-MCH71 CJ1W-MCH71 Motion Control Unit

Notice:

Introduction

MC Units

Guide to Version Upgrades

About this Manual:

Read and Understand this Manual

PRECAUTIONS

1 Intended Audience

2 General Precautions

3 Safety Precautions

4 Application Precautions

5 Operating Environment Precautions

6 Conformance to EC Directives

1-1 Features

1-2 System Configuration

1-3 Basic Operations

1-4 Control System Configuration and Principles

1-5 Performance Specifications

1-6 Command List

1-7 Performance

2-1 Basic Operation Flow

2-2 Overview of CX-Motion-MCH

3-1 Nomenclature and Functions

3-2 Installation

3-3 External I/O Circuitry

3-4 Wiring

3-5 Connecting MECHATROLINK Devices