Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004, SYSMAC CS User Manual

Cat. No. W419-E1-04

Programmable Controller
SYSMAC CS-series
CS1W-MCH71

Motion Control Unit

CS1W-MCH71 Motion Control Unit

Operation Manual

Revised September 2004

iv

v

Notice:

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

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

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

serious injury.

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

serious injury.

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

moderate injury, or property damage.

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.

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

tion of the product.

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

 OMRON, 2003

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o

r

by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o

f

OMRON.

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

vi

Introduction

We are flattered that you have purchased OMRON SYSMAC CS-series advanced Motion Control Unit.
Motion control Unit CS1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance

CPU unit of the programmable controller SYSMAC CS-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.

vii

Unit Versions of CS-series Advanced Motion Control
Units

Unit Versions A “Unit version” has been introduced to manage Advanced Motion Control

Units (MC Units) in the CS Series according to differences in functionality
accompanying Unit upgrades.

Notation of Unit Versions
on Products

The unit version is given to the right of the lot number on the nameplate of the
applicable CS-series Advanced Motion Control Units, as shown below.

The unit version of the Advanced Motion Control 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.

Confirming Unit Versions
with Support Software

The unit version cannot be confirmed in Unit Manufacturing Information of
CX-Programmer version 4.0 or higher.

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

CS-series Advanced Motion Control Unit

Product nameplate

Unit version
Example for Unit version 2.0

OMRON CS1W-MCH71

MC UNIT

Lot No. 031001 0000 Ver.2.0

Attach the unit version label here.

Method for confirming the
internal system software
version

Confirm in the device information under the Tools Menu in
the MC-Miel for MCH.

Corresponds to the unit
version

Internal system software version
Pre-Ver. 2.0: 1.00xxxx to 1.04xxxx
Unit Ver. 2.0: 1.05xxxx

viii

Unit Version Notation

In this manual, the unit version of a Motion Control Unit is given as shown in
the following table.

Functions Supported by Advanced Motion Control Unit Ver. 2.0

Unit Versions and Lot Numbers

Product nameplate Notation used in this manual Special remarks

Ver. 2.0 or later number
shown to the right of the
lot number

CS-series Advanced Motion Control Unit Ver. 2.0 or later. Information without refer-

ence to specific Unit ver­sions applies to all versions
of the Unit.

Blank to the right of lot
number

Pre-Ver. 2.0 CS-series Advanced Motion Control Unit

Unit Version Pre-Ver. 2.0 Motion Control Unit Motion Control Unit Ver. 2.0

Internal system software version 1.00 to 1.04 1.05
CS-series Advanced Motion Control Unit

model numbers

CS1W-MCH71 CS1W-MCH71

Jogging Not supported Supported
Communications levels Not supported Supported
Communications cycle/Unit cycle Not supported Supported
LATCH command processing time Not supported Supported
Latch status refresh time Not supported Supported
Using interpolation commands during

pass operation

Not supported Supported

Acceleration/deceleration time during
pass operation

Not supported Supported

Deceleration time during pass opera­tion

Not supported Supported

Torque to position switching Not supported Supported
Speed to position switching Not supported Supported

Support Software MC-Miel for MCH Ver. 1.5.7 or lower MC-Miel for MCH Ver. 1.5.8 or higher

Type Model Date of manufacture

June 2004 or earlier July 2004 or later

CPU Bus Unit Advanced Motion Con-

trol Unit

CS1W-MCH71 No version code

(pre-Ver. 2.0)

Unit Ver. 2.0.
(Lot No.: 040715 or later)

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Version Upgrade Information

The following tables outline changes made for the most recent version upgrade for SYSMAC CS­Series Advanced Motion Control Units.

Jogging

Network Levels

Communications Cycle/Unit Cycle

LATCH Command Processing Time

Previous versions Present version (unit Ver. 2.0 or later)

The following procedure was required to set or reverse
the jogging direction.

• Specify the feed direction using the JOG/STEP Direc­tion Bit.

• Turn ON The JOG Operation Bit.

• Turn OFF the JOG Operation Bit to reverse the feed
direction.

• Reverse the JOG/STEP Direction Bit after the axis
has stopped.

• Turn ON the JOG Operation Bit.

• The jogging direction will then be reversed.

• The following setting/reversal method has been
added.

• Specify the feed direction using the JOG/STEP Direc­tion Bit.

• Turn ON the JOG Operation Bit.

• Leave the JOG Operation Bit turned ON and simply
reverse the JOG/STEP Direction Bit setting to reverse
the feed direction.

• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 05
0: Default setting. Same functionality as previous ver­sions. This bit was previously reserved (default setting

0).
1: Selects new function supported with this version.

Previous versions Present version (unit Ver. 2.0 or later)

Motion Control Units could be used to control commu­nications across three network levels.

Motion Control Units now support communications
across eight network levels, the same as CPU Units.
CPU Units with unit Ver. 2.0 or later support eight net­work levels.

Previous versions Present version (unit Ver. 2.0 or later)

The communications cycle and Unit cycle were as fol­lows:

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

• A 3-ms communications cycle is now supported,
enabling higher-precision performance.
Communications cycle: 1 ms, 2 ms, 3 ms, or 4 ms
Unit cycle: 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, or 8 ms

• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 03
0: Default setting. Same functionality as previous ver­sions. This bit was previously reserved (default setting

0).
1: Enables 3-ms cycle provided with this version.

Previous versions Present version (unit Ver. 2.0 or later)

The time required to detect the external latch signal
after the LATCH command is executed was as follows:
Receiving latch signals at any position:
105 ms to 232 ms
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms

The required time has been shortened for receiving
latch signals at any position, as follows:

Receiving latch signals at any position:
3 ms to 24 ms (improved)
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms (same)

x

Latch Status Refresh Time

Using Interpolation Commands in Pass Operations

Acceleration/Deceleration Time During Pass Operation

Previous versions Present version (unit Ver. 2.0 or later)

After LATCH command execution, the time required
from input of the latch signal until the input is reflected
in the system variable (variable showing latch comple­tion) was as follows:

14.5 ms to 85.5 ms

The required time has been shortened as follows:

7.5 ms to 37.5 ms

Previous versions Present version (unit Ver. 2.0 or later)

To execute a pass operation when the axis was
stopped required two interpolation commands just for
the first movement.
Example:

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

etc.

A pass operation can be executed when the axis is
stopped using a single interpolation command.

Example:
PASSMODE;

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

etc.

Previous versions Present version (unit Ver. 2.0 or later)

Parallel processing had to be executed using the PAR­ALLEL command to change the acceleration/decelera­tion time during a pass operation, making changes at
user-specified timing difficult.

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

• The acceleration/deceleration time can be easily
switched using the newly added parameter, as fol­lows:
MOVEL [J01]1000 F1000
#IW0A00 = 2; [The pass operation will be performed
to the next position using the time set in bank 2.]
MOVEL [J01]5000 F1000

• The following ten new parameters have been added
and use the area previously allocated for task param­eters.
The setting range is 0 to 60,000 ms.
No.
P00M11 Interpolation feed acceleration/decelera­tion time (Bank 1)
to
P00M20 Interpolation feed acceleration/deceleration
time (Bank 10)

xi

Deceleration Time During Pass Operation

Switching from Torque to Position Control

Previous versions Present version (unit Ver. 2.0 or later)

The interpolation feed deceleration time was used to
decelerate to a stop during pass operation.
Example:

Pass Mode Select 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;

• The interpolation time used for the pass operation
(interpolation feed acceleration time or deceleration
time) is used to decelerate to a stop during pass oper­ation.

Example:
Pass Mode Select 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;

• To decelerate to a stop using the interpolation feed
deceleration time in the same way as previous ver­sions, add STOPMODE before the final interpolation
command before stopping.

PASSMODE;
INC MOVEL [J01]1000 F100000;

STOPMODE
INC MOVEL [J01]1000 F100000;
END;

Previous versions Present version (unit Ver. 2.0 or later)

Torque control switched could be switched to posi­tion control using the TORQUR command only
after the axis feedback speed reached 0.

• Torque control can be switched to position control using the
TORQUR command when the axis feedback speed
reaches the speed specified in the specified parameter
(specified as a percentage of the rated speed).

• The following new parameter uses an area previously
reserved in the axis parameter area.
Parameter No.: P3AA09
Parameter name: Position Control Switching Speed
Setting range: 0 to 32767 (unit: 0.01%)

Ta Ta Td

Speed

Time

Ta Ta Ta

Speed

Time

Ta Ta Td

Speed

Time

xii

Switching from Speed to Position Control

Previous versions Present version (unit Ver. 2.0 or later)

Speed control switched could be switched to posi­tion control using the SPEEDR command only
after the axis feedback speed reached 0.

• Speed control can be switched to position control using the
SPEEDR command when the axis feedback speed reaches
the speed specified in the specified parameter (specified as
a percentage of the rated speed).

• The following new parameter uses an area previously
reserved in the axis parameter area
Parameter No.: P3AA09
Parameter name: Position Control Switching Speed
Setting range: 0 to 32767 (unit: 0.01%)

xiii

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

4 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxii

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-5 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

1-6 Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-7 Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Overview and Operating Procedure of MC-Miel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3-1 Nomenclature and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

SECTION 4

MC Unit Internal Data Configuration and Setting . . . . . . . 49

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-2 System Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

4-7 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-8 Servo Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

xiv

TABLE OF CONTENTS

SECTION 5

Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 193

5-1 Data Transfer and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

5-2 IOWR Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5-3 IORD Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5-4 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

SECTION 6

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

6-1 Program and Task Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

6-2 Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260

6-3 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

SECTION 7

PC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

7-2 Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

7-3 Allocations for the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

7-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

SECTION 8

Establishing the Origin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

8-2 Input Signals Required for Origin search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

8-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

8-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494

8-5 Absolute (ABS) Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497

8-6 ABS Encoder Origin Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

SECTION 9

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

9-1 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

9-2 Debugging the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510

9-3 Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

9-4 Backup and Restore Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

SECTION 10

Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

xv

TABLE OF CONTENTS

SECTION 11

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

11-1 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

11-2 Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

11-3 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

11-4 Unit-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

11-5 Motion Task-related Alarm Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596

11-6 Axis-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .602

11-7 MLK Device Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

11-8 Servo Driver Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

11-9 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

SECTION 12

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 613

12-1 Routine Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

xvi

TABLE OF CONTENTS

xvii

About this Manual:

This manual describes the installation and operation of the CS1W-MCH71 Motion Control Unit (MC
Unit) 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 CS1W-MCH71 CS-series Motion
Control Unit. It also describes product operating principles and provides product specifications

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

Section 3 describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion
Control Unit.

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

Section 5 describes how to transfer data between the CPU Unit and the CS1W-MCH71 Motion Con­trol Unit and how data is stored.

Section 6 describes how to program CS1W-MCH71 Motion Control Unit 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 CS1W-MCH71
Motion Control Unit.

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

Section 9 describes special operations for the CS1W-MCH71 Motion Control Unit, including teaching,

program debugging, coordinate systems, and backup functions.

Section 10 provides a programming example to demonstrate how the CS1W-MCH71 Motion Control
Unit can be used.

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

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

!WARNING Failure to read and understand the information provided in this manual may result in per-

sonal injury or death, damage to the product, or product failure. Please read each section
in its entirety and be sure you understand the information provided in the section and
related sections before attempting any of the procedures or operations given.

xviii

xix

PRECAUTIONS

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

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

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi

4 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

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

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

xx

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.

xxi

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.

xxii

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

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

of100

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.

xxiii

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 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 deleted 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.

• Parameters and programs for MC Units with unit version 2.0 or later can be transferred to pre-Ver. 2.0
MC Units, but the new and upgraded functions for unit Ver. 2.0 will be disabled.

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

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.

• Locations close to power supplies.

xxiv

Conformance to EC Directives 6

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 CS1W-MCH71 “MC Unit” comply 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.)

1

SECTION 1

Features and System Configuration

The section introduces the features and system configuration of the CS1W-MCH71 CS-series Motion Control Unit. 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. . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4-1 Control System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1-4-2 Control System Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-4-3 Feedback Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5 Performance Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1-5-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

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

1-6 Command List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

1-7 Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2

Fe at ur e s Section 1-1

1-1 Features

1-1-1 Overview

The CS1W-MCH71 model is a CS-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.

3

Fe at ur e s Section 1-1

1-1-2 Features

Simple System
Architecture

• 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.

Easiest Information
Management

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

servo driver, status monitoring.
These functions are possible from computer support tool or PT.

• Backup using Memory Card in CPU Unit.

Various motion controls
~Distributed control
system~

• 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.

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

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.

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

4

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.

Note (1) The MECHATROLINK is registered trademark of YASKAWA ELECTRIC

CORPORATION.

(2) W-series servo driver requires YASKAWA MECHATROLINK-II I/F unit

model JUSP-NS115.

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

name is identified on the nameplates 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) Attach a terminator to the termination slave of MECHATROLINK devices.

MCH71

PT

Sensor/
Valve

W-series Servo
+
I/F unit

Memory
card

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

CW Limit/CCW Limit

CounterDI/O DI/O Pulse output

Stepping

Computer

5

System Configuration Section 1-2

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

Support Tool

Note When ordering support tools, please contact our sales representatives indi-

cating the Cat. No.

MECHATROLINK-II Devices and Cables

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.

Terminato

r

Name Cat. No. Specification Overview

Support Tool for Motion Control Unit
MC-Miel for MCH

SBCE-023B Support Tool for computers

Japanese version

Support Tool for Motion Control Unit
MC-Miel for MCH

I809-E1-02 Support tool for computers

English version

Name YASKAWA Model OMRON Model Specification Overview

MECHATROLINK-II I/F Unit JUSP-NS115 FNY-NS115 For W-series servo driver
DC24V I/O Module JEPMC-IO2310 FNY-IO2310 Input: 64

Output: 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)

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

Terminating resistance for MECHA­TROLINK-II

JEPMC-W6022 FNY-W6022 Terminating resistance

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

6

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:

50

J02

0 50 100

J01

7

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.

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.)

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.

J

02

J01

Center

Starting
point

Linear interpolation

Radius

Target point

Circular interpolation

Axis 3

Axis 2

Axis 1

Target point

Linear
interpolation

Center

Starting point

Circular interpolation

Speed

Speed

Position control
(Fixed distance)

t

External signal

Counter latch completed

8

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.

1-3-4 Torque Control

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

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.

Speed

Speed command value

Speed change rate

t

Torque

Torque command value

Torque change rate

t

9

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.)

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.

Speed

Master axis

Slave axis

Speed

Acceleration Constant speed Deceleration

Distance
when the
master ax­is is accel­erated

Distance
when the
master ax­is is decel­erated

MOVELINK command
(Link operation starts.)

Link operation ends.

Amount of travel
distance the master
axis makes.

Amount of travel
distance the slave
axis makes.

t

t

Speed

Speed

Master axis

Slave axis

Marker sensor
signal standby

Trailing opera­tion section

Trailing synchronization section

Trailing operation travel dis­tance

SYNC command
(Waiting for trail sync)

Marker sensor turns ON
(Starts trailing)

Trailing synchronization starts.

SYNCR command
(Trail sync ends.)

t

t

10

Control System Configuration and Principles Section 1-4

Travel Distance
Superimpose

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.

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.

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
Command

Performs Simple arithmetic operation, Functions, and Logic Operations.

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.

Speed

Speed

Master axis
(Superimposing
axis)

Slave axis
(Specified axis)

Only this section is
superimposed.

Superimposed portion
travel distance

ADDAX command
(Travel distance superimpose starts.)

ADDAXR command
(Travel distance superimpose ends.)

t

t

11

Performance Specifications Section 1-5

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

1-4-2 Control System Principles

Internal Operations of the MC Unit

1-4-3 Feedback Pulse

Normal rotation/Counter rotation of a motor

1-5 Performance Specifications

1-5-1 General Specifications

Motion controller

Command

Actual travel
distance

Encoder

Servomotor

Decelerator

Table

Ball screw

Item Specifications

Model CS1W-MCH71
Power supply voltage DC 5V (from Backplane)

DC24V (from external power supply)

Voltage fluctuation tolerance DC4.75-5.25V (from Backplane)

DC21.6-26.4V (from external power supply)

Internal current consumption DC5V 0.8A or less

DC24V 0.3A or less

Weight (Connectors excluded) 300g or less
Dimensions 130 (H) × 35 (H) × 100.5 (D) (single)
Altitude At 2,000m elevation or lower.

MC Unit CS1W-MCH71

Command
value

Communi­cation I/F

Command

Status

I/F board Servo driver

Communi­cation I/F

Error
counter

Speed
control

Power
amplifier

Position
feedback

Speed
feedback

Servomoto

r

Encoder

Reverse rotation

Forward rotation

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

12

Performance Specifications Section 1-5

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

1-5-2 Functions and Performance Specifications

Item Specifications

Model CS1W-MCH71
Applicable PLC CS series New Version (CS1@-CPU@@H)
Type of Unit CS series CPU Bus Unit
Mounting CPU unit or CS series expansion rack
Method for

data trans­fer with
CPU Unit

CIO Area for CPU
Bus Unit

Occupies the area for 1 unit (25 words)
For units and tasks: 11 to 25 words (Depending on the number of motion tasks)

DM Area for CPU
Bus Unit

Occupies the area for 1 unit (100 words)

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

Controlled Devices MECHATROLINK-II below supported

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

• Various I/O units (YASKAWA)

Up to 30 nodes

* When MECHATROLINK-II devices are connected up to 16 nodes (within 30m) 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.
Built-in program language Dedicated motion control language
Control Control method MECHATROLINK-II

• Position commands, Speed commands, Torque commands

Number of con­trolled axes

32 axes max.

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

Dedicated for virtual axes: 2 axes
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.

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.

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

Units mm, inch, deg, pulse

Maximum position command value −2147483648 to 2147483647 pulses (signed 32-bit)

Mode for unlimited axes feeding is possible.
Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001mm,

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

13

Performance Specifications Section 1-5

Control
operations
based on
commands
from the
CPU Unit

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

system parameter x override.
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

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

ting

Sets the origin when an absolute encoder is used.

Offset value: Signed 32-bit (pulses)
Error counter reset Forcibly resets the error counter to 0.
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.

Control
Operations
according
to motion
program

Positioning (PTP) Executes positioning independently for each axis at the speed set in the system

parameters.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /unit
Linear interpolation Executes linear interpolation for up to 8 axes simultaneously at the specified interpo-

lation speed.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /system
Circular interpolation Executes clockwise or counterclockwise circular interpolation for two axes at their

specified interpolation speed.

Simultaneous specification: 2 or 3 axes/block

Simultaneous execution: 16 blocks max. /system
Origin search Defines the machine origin according to the search method set in the system param-

eters.

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

The absolute encoder can also execute origin search.
Interrupt feeding By means of inputs to the servo driver, moves a specified axis for a specified travel

distance to perform positioning.
Time-specified Posi-

tioning

Executes positioning with time specified.

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

gle Axis

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

elapse of time.
Synchronous Elec-

tronic cam

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

the position of the specified axis.
Link operation Executes link operation according to set conditions with reference to the position of

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

fied axis and gear ratio.
Trailing synchronous

operation

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

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

Acceleration /deceleration curve Trapezoidal or S-shape
Accelera-

tion/ decel­eration time

Acceleration/ decel­eration time

60000ms max.

S-shape time con­stant

30000ms max.

Item Specifications

14

Performance Specifications Section 1-5

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

CPU Unit, examine the followings:

External I/O For high-speed

servo communica­tion bus

One port for MECHATROLINK-II

Servo encoder Incremental rotary encoder

Absolute rotary encoder (Unlimited length ABS supported with some conditions)
I/O Deceleration stop input: 1pt

General input: 2pts

General output: 2pts
External power sup-

ply for I/O

24V

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

Interpolation feed
rate

1 to 2147483647 [Command unit/min]

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

system parameters or the motion program.

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

Axis control Backlash compensa-

tion

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

This function uses a parameter in the servo driver.
Position loop gain This is the position loop gain of the servo driver.

This function uses a parameter in the servo driver.
Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain.

This function uses a parameter in the MC Unit.

Program Number of tasks Motion task: 8 tasks max.

Parallel branching in
task

Motion task: 8 branches max.

Number of programs 256 programs max. /unit

The program Nos. used for programs are from 0000 to 0999.
Program numbers 0000 to 0499: Main programs for motion tasks

0500 to 0999: Sub-programs for motion tasks
Program capacity 2 Mbytes

8000 blocks max. /unit by motion program conversion.
Number of blocks 800 blocks/program
Position data capac-

ity

10240 points/unit

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-

cuted.

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

Saving pro­gram data

MC Unit Flash memory backup

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,

etc.

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

needed.

Alarm reset Alarm reset

Item Specifications

15

Performance Specifications Section 1-5

• 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.)

(2) The user must prepare the required power supply.
(3) The service life for the flash memory is 100,000 writing operations.
(4) The model CS1@-CPU@@H is the CPU Unit in which the IOWR/IORD in-

structions can be used. However, the version of the Unit decides whether
the Unit has the function or not. See below:

(a) CPU Units before Jan. 7, 2002 (Lot. 020107)

They do not have the function.

(b) CPU Units after April 18, 2003 (Lot. 030418)

They have the function.

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

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 support
tools are to be within the range described in the above table.

Position command decimal point

(Setting value for P5AA02)

Setting ranges

1(0) −2147483648 to 2147483647

0.1 (1) −214748364.8 to 214748364.7

0.01 (2) −21474836.48 to 21474836.47

0.001 (.3) −2147483.648 to 2147483.647

0.0001 (4) −214748.3648 to 214748.3647

16

Command List Section 1-6

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

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.

346
469

Manual mode

JOG
STEP
Origin Search

Jogging Moves axes continuously by manual operation. 436
Deceleration stop

(Axis)

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

432

STEP operation Feeds a specified axis for a specified distance. 440
Manual origin search Searches for the machine origin (Possible with either Incremental or

Absolute encoder)

444

Manual origin return Moves the axis to the origin in the reference coordinate system. 448
Forced origin Forcibly sets the present position to 0 to establish it as the origin. (In the

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

Note To preset the preset position to any given value, IOWR instruc-

tion is used.

457

Absolute origin set­ting

Sets the origin for an absolute encoder. 459

123456789101112131415161718192021222324252627282930

Negative definite

-0.00000000000000000

0002147483648

Positive definite

+0.000000000000000000002147483647

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

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

30 digihts

10 dights

Number of
decimals

Maximum number
of digits excluding 0

Maximum number
of decimals

17

Command List Section 1-6

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

or the speed set in the system parameters.

271

Positioning with lin­ear interpolation

Executes linear interpolation at the specified interpolation feed rate for
up to 8 axes simultaneously

273

Positioning with cir­cular interpolation

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

274

Positioning with heli­cal circular interpola­tion

Executes clockwise or counterclockwise 2-axis circular interpolation
and 1-axis linear interpolation (i.e., helical interpolation) at the specified
interpolation feed rate.

274

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

system parameters.

278

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

turned ON.

281

Time-specified posi­tioning

Executes positioning to a specified position with time specified. 282

Target position
change

Changes target position of an operating axis to a specified position. 305

Traverse Execute winding (traverse) function. 284
Electronic Shaft

function

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

296

Electronic cam (Sin­gle axis)

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

286

Electronic cam (Syn­chronous)

Synchronizes the slave axis to the master axis using cam table. 292

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

tion, constant speed, and deceleration areas.

289

Trailing synchroniza­tion

Slave axis starts trailing master axis at the rise of marker sensor when
standing by. Once it catches up with master, synchronization starts.

297

Travel distance
superimpose

Superimposes travel distance of the master axis on the slave axis. It
functions like the differential gear.

298

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

be specified.

300

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

fied.

303

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

form an ideal operation.

256

Counter latch The present position of an axis can be stored in hardware. 311
Switching to Pass

Mode

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

308

Dwell timer Pauses positioning for a specified time. 316
Arithmetic command Performs arithmetic, function, and logic operations. 327

329
331

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

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

404

Single block Executes programs one block at a time. 419
Block stop Stops program execution at the end of the block being executed. 414

Item Contents Page

18

Performance Section 1-7

1-7 Performance

Automatic/ Man­ual mode

Backlash compensa­tion

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

183

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

(Enabled when no speed reference is given to the servo driver)

452

Unlimited feed
mode/ Unlimited
present position dis­play

Moves the axis with no limit. In this mode, data range for updating the
present position can be specified.

515

Present position pre­set

Changes the present position to the specified position data. 50

Trapezoid/S-curve
acceleration and
deceleration

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

228

Axis alarm reset Resets alarms occurring on axes. 474
Unit alarm reset Resets alarms occurring on units. 381
Task alarm reset Resets alarms occurring on tasks. 426
Teaching Creates position data for the specified axis. 504
Deceleration stop

(Task)

Decelerates each task to a stop. 409

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

speed specified in the system parameters or programs.

423
462

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

to the servo driver.

434

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

the servo driver.

434

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

for debugging program.

465

Data transfer
and storage

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

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

50
203

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

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

343
364

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

Unit's flash memory.

195

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

function of the CPU Unit.

522

Item Performance data Description

Power ON startup time Approximately (13+0.1×No. of

axes) seconds

Time from turning ON the power until the MC
Unit becomes ready to accept manual operation

commands.
PLC scan time Tc Scan time of the PLC
Unit cycle Tm This is the time required to execute a motion

task when there is only one motion task. Refer to

Calculation Method for Unit Cycle on page 19.
Communications cycle Ts Communications cycle of MECHATROLINK-II.

Refer to Calculation Method for Communications

Cycle on page 20.
Operation startup time When Tc < Tm:

2Ts+Tm+0.625ms+Tc~2Ts+
Tm+Ts+0.625ms+Tm+Tm

When Tc > Tm:
2Ts+Tm+0.625ms+Tc~2Ts+
Tm+Ts+0.625ms+Tm+Tc

This is the time from enabling the start signal

allocated to the input unit of PLC until the opera-

tion command is output to the control loop of the

servo driver when there is only one motion task

and all the axes are operated simultaneously.

Item Contents Page

19

Performance Section 1-7

Processing Cycle of MC
Unit

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

The system software calculates each control cycle, and it operates when "Unit
cycle: Communications cycle" is "1:1" or "2:1".

Calculation methods for each control cycle are as follows:

• Calculates the Unit Cycle

• Calculates the Communication Cycle

• Adjusts and matches the Unit Cycle and Communications Cycle.

Calculation Method for
Unit Cycle

Basic formula for calculating Unit Cycle is shown below:

Unit Cycle [

µs] = (115.0 × No. of axes)+(165.0 × No. of motion tasks × No.

of parallel branches) + (0.3

× No. of general allocated words) + 350.0 --- (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)

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 [

µs] = P00003 × 1000 ---(2)

Time lag per axis (Interpolation) 0 Time delay caused when interpolation is per-

formed with one motion task. No delay between
axes.

Time lag per axis (Independent opera­tion)

0 Time delay caused when every motion task with

one axis is started simultaneously. No delay
between axes.

Minimum operation time Tm Minimum operation time required to stay in Pass

Mode.
The same as the Unit Cycle.

Minimum traverse reversal time Tm Minimum time required for reversal operation of

traverse command. The same as the Unit cycle.

External input
response time

Unit Built-in general
input

Tm or less Time from accepting the Unit built-in general

input until it is reflected to input variables. It is
the same or less than Unit cycle.

Unit Built-in deceler­ation stop input

2Ts+Tm+0.625ms~2Ts+Tm+
Ts+0.625ms+Tm

Time from receiving deceleration stop input until
the operation command is output to the control
loop of the servo driver

CW/CCW limit origin
proximity input

4Ts+Tm+0.625ms~4Ts+Tm+
Ts+0.625ms+Tm

Time from when the servo driver recognizes the
input until the operation command is output to
the control loop of the servo driver.

Synchroniza­tion delay

MECHATROLINK
slaves

4Ts+Tm+0.625ms~4Ts+Tm+
Ts+0.625ms+Tm

Time from when the slave recognizes the input
until the operation command is output to the
control loop of the servo driver.

Counter latch
startup time

W + NS115 [(20ms/Tm) ×5+5] ×Tm+

Ts×3+4ms~[(20ms/Tm) ×8+5]
×Tm+Ts×3+4ms

Time taken by the MC unit to become able to
execute the counter latch after issuing a LATCH
command. Refer toCalculation Method for the
Counter Latch Startup Time on page 20.

Unit Ver. 2.0 or Later
When the starting and target
positions are not specified:
Tm × 3 + Ts × 3 + 4 ms

Item Performance data Description

20

Performance Section 1-7

Determining Unit Cycle

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

Calculation Method for
Communications Cycle

Basic formula for calculating Communications Cycle is shown below:

Communications Cycle [

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

133.3 + 26.2) × 1.1 ---(3)

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

axes) allocated in [P1AA01: Physical Axis Setting]

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

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

Note for W-series Servo Driver

When a W-series Servo Driver and NS115 communications module are allo­cated as slaves, Minimum communications cycle of MECHATROLINK-II will
be 1ms. If the Communications cycle that was found by the formula (3) was
less than 1ms, the formula (4) below is to be used.

Communications cycle [

µs] = 1000 ---(4)

Determining Communications Cycle

The Communications Cycle can be determined by rounding up the Communi­cations Cycle [

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

4ms.

Adjusting and Matching
Unit Cycle and
Communications Cycle

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

Calculation Method for the
Counter Latch Startup
Time

Basic formula for calculating the counter latch startup time is shown below:

1. Pre-Ver. 2.0 MC Units or When Latch Starting and Target Positions Are
Specified

When Unit Cycle = 1ms or 2ms:

[(20ms/Tm)

× 5 + 5] × Tm + Ts × 3 + 4ms ~ [(20ms/Tm) × 6 + 5] × Tm + Ts ×

3 + 4ms

When Unit Cycle = 3ms, 4ms, 6ms, or 8ms:

[(20ms/Tm)

× 7 + 5] × Tm + Ts × 3 + 4ms ~ [(20ms/Tm) × 8 + 5] × Tm + Ts ×

3 + 4ms

Note Round up the figures below the decimal place of the value found by

calculations.

According to the calculation methods above, the counter latch startup time will
be as follows:

Control cycle relations Adjusting/matching method

Unit Cycle < Communica­tions Cycle

Communications Cycle remains the same, and Unit Cycle
is adjusted so that it is the same as Communications
Cycle.

Unit Cycle = Communica­tions Cycle

Used as they are.

Unit Cycle > Communica­tions Cycle

When Unit Cycle is 8ms:

The Communications Cycle is 4ms.

Other cases:

When Unit Cycle/Communications Cycle = 2 or less:

The Unit Cycle remains the same, and the Communi­cations Cycle will be the half of the Unit Cycle.

Besides the above case:

The Unit Cycle remains the same, but the Communi­cations Cycle will be the same as the Unit Cycle.

21

Performance Section 1-7

• Unit Cycle = 1ms: Communication Cycle = 1ms 112 ms ~ 132 ms

• Unit Cycle = 2ms: Communication Cycle = 1ms 117 ms ~ 137 ms

• Unit Cycle = 2ms: Communication Cycle = 2ms 120 ms ~ 140 ms

• Unit Cycle = 3ms: Communication Cycle = 3ms 175 ms ~ 196 ms

• Unit Cycle = 4ms: Communication Cycle = 2ms 170 ms ~ 190 ms

• Unit Cycle = 4ms: Communication Cycle = 4ms 176 ms ~ 196 ms

• Unit Cycle = 6ms: Communication Cycle = 3ms 211 ms ~ 235 ms

• Unit Cycle = 8ms: Communication Cycle = 4ms 224 ms ~ 248 ms

• Unit Cycle = 8ms: Communication Cycle = 8ms 236 ms ~ 260 ms

2. Ver. 2.0 MC Units or When Latch Starting and Target Positions Are Not
Specified

Tm

× 3 + Ts × 3 + 4ms

Note Round up the figures below the decimal place of the value found by

calculations.

According to the calculation methods above, the counter latch startup time will
be as follows:

• Unit Cycle = 1ms: Communication Cycle = 1ms 10 ms

• Unit Cycle = 2ms: Communication Cycle = 1ms 13 ms

• Unit Cycle = 2ms: Communication Cycle = 2ms 16 ms

• Unit Cycle = 3ms: Communication Cycle = 3ms 22 ms

• Unit Cycle = 4ms: Communication Cycle = 2ms 22 ms

• Unit Cycle = 4ms: Communication Cycle = 4ms 28 ms

• Unit Cycle = 6ms: Communication Cycle = 3ms 31 ms

• Unit Cycle = 8ms: Communication Cycle = 4ms 40 ms

22

Performance Section 1-7

23

SECTION 2

Basic Procedures

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

2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2-2 Overview and Operating Procedure of MC-Miel . . . . . . . . . . . . . . . . . . . . . . 26

2-2-1 Overview and features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2-2 MC-Miel Function List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2-2-3 Installing and Uninstalling MC-Miel . . . . . . . . . . . . . . . . . . . . . . . . 27

2-2-4 MC-Miel Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

24

Basic Operation Flow Section 2-1

2-1 Basic Operation Flow

This Section gives an overview of the procedures required to use CS1W­MCH71.

OPR. Operation Flow Reference

Setup SECTION 3 Installation and Wiring

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

MC Unit
Setting

Users Manual for CS 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

START

Install MC Unit

Set Unit No. for MC Unit

Connect Support Tool/CX-Programmer

Connect MC Unit with External Input Devices

Connect Servo Driver and Servomotor

Connect Servo Driver and MC Unit

A

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 MC-Miel to set the system parameters, transfer
them to MC Unit, and save them to flash memory.

Use MC-Miel 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.

25

Basic Operation Flow Section 2-1

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

Tr i al OP R SECTION 7 PC Interface Area

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

gin

Debug SECTION 11 Troubleshooting

Run SECTION 10 Program Example

Mainte­nance

SECTION 12 Maintenance and
Inspection

OPR. Operation Flow Reference

A

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.

YES

Error Occurrence

NO

Check LED display on the MC Unit

Read Alarm codes of MC Unit

Eliminate the cause of error and clear it.

Run PLC to operate MC Unit

END

Maintenance and inspection

•

Replacing CS1W-MCH71

•

Replacing Servo driver

•

Replacing the NS115

26

Overview and Operating Procedure of MC-Miel Section 2-2

2-2 Overview and Operating Procedure of MC-Miel

This section explains the overview, features, and operating procedure of the
support tool, MC-Miel for MCH (MC-Miel hereinafter). MC-Miel helps to set
various parameters and data for CS1W-MCH71.

For detailed information on the performance and operating procedure, refer to
MC-Miel Online Help.

2-2-1 Overview and features

MC-Miel is the software that can help to create various data used on the MC
Unit model CS1W-MCH71, (MC Unit hereinafter) and to monitor the status of
the MC Unit. Its features are as follows:

Supports eight layers of
network

Using MC-Miel with OMRON’s Communication Unit will enable communica­tions with the MC Unit over eight layers of network.

Easy communication
settings

When communicating with MC Unit, it is required only to set the network
address and communication speed. Setting data length, stop bit, etc. is not
necessary.

Unitary management of
data

MC Unit handles various data such as parameters, position data, programs,
etc. MC-Miel manages these data unitarily, i.e. on the basis of one file for one
MC Unit.

Possible to edit
parameters of servo
drivers and motors

With MC-Miel, it is possible to edit not only the parameters of MC Unit, but
also the ones related to the servo drivers and motors on the same network.

Backing up and restoring
the data all at once

Easy operation will make the data of MC Unit backed up and restored all at
once.

Tying up with application
software on the market

Using “Copy and Paste” of the application on the market (Excel) will make it
easy to create the position data and parameters.

2-2-2 MC-Miel Function List

Overview of the MC-Miel functions is listed below:

Function

classification

Function Description

Basic function Create Creates new MCH data.

Note Contents of MCH data are as follows:

Parameters, Position data, Programs, and Cam data
Read Reads the MCH data stored in external memory device.
Save Saves the MCH data that was read or is being edited to external memory

device.

Transfer all at once Transfers various data in MC Unit to personal computer all at once. Trans-

fers various data in personal computer to MC Unit all at once.
Print Prints out parameters, position data, and programs.
Network setting Helps various settings to establish communication with MC Unit.
Help Explains the operation method of MC-Miel.
Version display Displays the version of MC-Miel.

27

Overview and Operating Procedure of MC-Miel Section 2-2

2-2-3 Installing and Uninstalling MC-Miel

Installing Procedure

1,2,3... 1. Start Windows.

2. Insert MC-Miel (CD-ROM) into CD-ROM drive.

3. Installer will start automatically. Follow the instruction on the screen to in­stall.

Installing MC-Miel completed

Note To see the operating manual

To see the operating manual of MC Unit provided in the CD-ROM, Acrobat
Reader is required.

1,2,3... 1. Double-click “AcroReader51_ENU.exe” in Acrobat\Reader to install Adobe

Acrobat Reader 5.1.

2. After installation, open the operating manual.

Uninstalling Procedure

1,2,3... 1. Start “add/delete application” following the operation below:

Select Start button

→ Setting → Control Panel.

Then, start “Add/delete application”.

2. Delete “MC-Miel for MCH” after having found it with search.
Uninstalling MC-Miel completed

2-2-4 MC-Miel Operation Flow

When using motion control system (MC System hereinafter), settings for PLC,
MC Unit, and Peripherals are required.

The explanation below is provided on the assumption that all the devices
required for MC System are prepared. (For details, refer to the MC-Miel
Online Help.)

Operating Procedure

1,2,3... 1. Connect a personal computer to PLC with MC Unit not mounted yet.

2. Turn ON the personal computer.

Edit function Parameter edit Creates, edits, and transfers parameters.

Program edit Creates, edits, and transfers programs.
Position data edit Creates, edits, and transfers position data.
Cam data edit Creates, edits, and transfers cam data.
Factory default setting Brings the dragged portion of MCH data back to its factory default setting.
Copy and paste Copies the dragged portion of MCH data to clipboard.

Pastes the data in clipboard to the dragged area of MCH data.

MC unit sup­porting function

Flash memory save Saves various data in MC unit to F-ROM of MC Unit.

Saves parameters of servo driver in MC Unit to EEP-ROM of servo driver.
Memory initialization Initializes various data in MC Unit.
Error log Displays or initializes error log in MC Unit.
Device information Reads information (model, software version) of MC Unit.

Tool function Present position/alarm

monitor

Monitors present position and alarm information of each axis.

Monitors program No. being executed by each task.
Variables monitor/setting Monitors and sets different types of variables in MC Unit.

Function

classification

Function Description

28

Overview and Operating Procedure of MC-Miel Section 2-2

3. Turn ON PLC.

4. Set allocation area in DM area corresponding to the unit No. (UNIT No.) of
the MC Unit using CX-programmer or the Programming Console of PLC.

5. Turn OFF PLC.

6. Mount MC Unit on PLC.

7. Set unit No. (UNIT No.) of MC Unit.

8. Connect various peripherals (servo driver, motor, etc.) including the Com­munication I/F Board to MC Unit.

9. Set Communication I/F Board.

10. Turn ON peripherals.

11. Turn ON PLC.

12. Create I/O table using CX-Programmer or the Programming Console of
PLC. When finished creating I/O table, end CX-Programmer or set it Off­line.

13. Start MC-Miel.

14. Set and save parameters that have to be set with MC-Miel.

• Allocate an axis to MC Unit.

• After the allocation, save parameters to F-ROM of MC Unit.

• After saving, turn OFF PLC once, then ON again.

15. Set the initial values of the following parameters and transfer them to MC
Unit and servo driver.

• Set parameters of the servo driver.

• Set parameters of the motor.

16. After transferring the parameters, save them into F-ROM of MC Unit and
EEP-ROM of servo driver.

17. Turn OFF the peripherals including the servo driver once, and then turn
OFF PLC.

18. Turn ON PLC, and then turn ON peripherals including the servo driver.

19. Create and edit other parameters and data.

• Parameters

• Programs

• Position data

• Cam data

20. Transfer and save the parameters and data above to MC Unit and the ser­vo driver.

21. At last, save all the data into the personal computer.

22. End MC-Miel.

Note CX-Programmer and MC-Miel cannot use the same communication port at

the same time.
To use the same communication port, set one Off-line and the other On-line.

29

SECTION 3

Installation and Wiring

This section describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion Control Unit.

3-1 Nomenclature and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3-1-2 Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2-2 Mounting to the Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3-2-3 Unit Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-1 MECHATROLINK-II Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-2 I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-3 Wiring Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3-4 I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-4-1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-5-1 Method of Connecting MECHATROLINK Devices . . . . . . . . . . . . 38

3-5-2 W-series Servo Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-5-3 24VDC I/O Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3-5-4 Counter Module, Pulse Output Module . . . . . . . . . . . . . . . . . . . . . . 46

30

Nomenclature and Functions Section 3-1

3-1 Nomenclature and Functions

3-1-1 Nomenclature

LED Indicators

Note When the ERC or ERH indicator is lit, these four indicators show the internal

error status.

LED Indicators

UNIT No. Setting switch

T.B connector, SSI connector
(Cannot be used)

I/O connector

MECHATROLINK-II connector

Name Color Status Content

RUN
(RUN)

Green Lit Motion Control Unit is operating normally.

Not lit Not recognized by PLC, or MC Unit is broken.

ERC
(MC Unit Error)

Red Lit An error has occurred in the MC Unit.

Not lit MC Unit is operating normally.

ERH
(CPU Unit Error)

Red Lit An error has occurred in the CPU Unit.

Not lit CPU Unit is operating normally.

ER1 (See note.)
(Internal error status)

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

ER2 (See note.)
(Internal error status)

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

ER3 (See note.)
(Internal error status)

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

ER4 (See note.)
(Internal error status)

Yellow Lit An internal error has occurred.

Not lit MC Unit is operating normally.

SSI Yellow Lit Not used.

Not lit Not used.

MLK
(MECHATROLINK-II)

Yellow Lit MLK is operating normally.

Not lit An error has occurred in the MLK.

31

Nomenclature and Functions Section 3-1

Unit Number Setting
Switch

Several MC Units can be mounted on one CS series PLC.
It is necessary to set the unit numbers to identify these units when several MC

or CPU Bus Units are mounted.
The rotary switch located on the forehead of MC Unit can set the unit num-

bers.

A maximum of 16 MC Units or other CPU Bus Units can be mounted on one
PLC. Therefore, the setting range for the unit number is between 0 to F in
hexadecimal.

The same unit number cannot be used in one PLC.

!Caution Please check if the power is OFF when you start the settings.

Piano Switch On the Back
Panel of the Unit

These switches are used for special purposes like shipping inspection mode,
etc. Therefore, do not operate them.

Note If the power is turned ON under this setting, the MC Unit will be started after

various user settings are set beck to their factory default values.

3-1-2 Area Allocations

Word Allocations Using
Unit Numbers

The bit and DM areas used by the MC Unit are allocated based on the unit
number.

CPU Bus Unit Allocated
Bit Area

The bit area is allocated 25 words for each unit number starting from the word

1500.

MCH71

CS

ERH

ER3

ER4

MLKSSI

ER2

ERC

RUN

ER1

(Examples)

Unit Number: 6 Unit Number: 12

(

Hexadecimal

)

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.)

12

O

N

←

32

Installation Section 3-2

The following table describes the allocations.

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.

The following table describes the allocations.

3-2 Installation

3-2-1 System Configuration Precautions

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 slot num­ber to which the Unit has been mounted.

MC Units can be mounted on the CPU Backplanes model CS1W-BC@@3 or
CS1W-BC@@2 and the Expansion Backplanes model CS1W-BI@@3 or
CS1W-BI@@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.

When MECHATROLINK-II devices are connected up to 16 nodes (within 30m)
or 15 nodes (within 50m), no repeater unit is required. A repeater unit is
required to connect MECHATROLINK-II devices more than the cases above.

Unit number Bit area Unit number Bit area

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 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

MC Unit

Make sure to use the surge absorber for the
contact output of this relay output unit.

33

Installation Section 3-2

3-2-2 Mounting to the Backplane

Use the following steps to mount or remove MC Units.

1,2,3... 1. Mount the Unit on the Backplane by hooking the top of the unit into the slot

on the Backplane and rotating the Unit downwards.

2. Make sure that the connector on the back of the Unit is property inserted
into the connector on the Backplane.

3. Use a Phillips screwdriver to tighten the screw on the bottom of the Unit.
The screwdriver must be held at a slight angle, so be sure to leave enough
space below the rack.

Note Tighten the screw to a torque of 0.4N-m.

To remove the Unit, loosen the screw with a Phillips screwdriver, rotate the
Unit upwards, and then remove it.

Hook

Backplane

Duct

Duct

CPU Unit

I/O Power
Supply Unit

Slave Rack

Phillips screwdriver

20 mm min.

20 mm min.

Backplane

34

Installation Section 3-2

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.

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.

3-2-4 Dimensions

CS1W-MCH71

Remove label after wiring

130

35

100.5

104

35

External I/O Circuitry Section 3-3

3-3 External I/O Circuitry

3-3-1 MECHATROLINK-II Connector

MECHATROLINK-II Standard Cable

USB connectors on both ends: JEPMC-W6003-**

3-3-2 I/O Connectors

3-3-3 Wiring Connectors

Instruction:

1,2,3... 1. Pass each wire through heat-shrink tubing.

2. Spot-solder the wires and connector terminals

3. Solder the wires

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

Item Classification Component and Maker

Connector name CN2 I/O connector
Applicable connec-

tor

MDR connector 10214-52A2JL (3M)

Mating connector Connector

Housing

10114-3000VE (3M)
10314-52F0-008 (3M)

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)

9 DI_01 I DI input

(Reserved)
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

36

External I/O Circuitry Section 3-3

4. Pull the heat-shrink tubing back over the soldered area and heat the tubing
to shrink it.

3-3-4 I/O Circuitry

Connector Interface
Circuits

• 24VDC Digital Output (2 outputs)

Soldering gun

1 mm

Heat-shrink tube
Inner diameter:1.5, r=10

Heat-shrink tube

Item Specifications Circuitry

Max. Output Cur­rent

100mA/24VDC

Leakage current 1mA or lower
Residual Voltage 1.5V or lower
External Supply

Vol tage

24VDC ±10%

Number of Com­mon

2

L

+V

DO_00

33 kΩ

L

DO_COM

33 kΩ

DO_01

24 VDC

Internal circuits

Fuse

37

Wiring Section 3-4

• 24VDC Digital Input

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

µF for the output of 24VDC power

supply will improve noise-resistance.
Use shielded cables for control lines.
For inductive loads such as relays or solenoid valves, connect surge absorb-

ers.
The connecting cable for the servo driver must be the specified cable with ring

core.

Item Specifications Circuitry

Rated Input Volt­age

24VDC ±10%

Rated Input Cur­rent

4.06~4.48mA

ι24VDC ϕ
ON Voltage Min. ≅9.5V
OFF Current Max. ≅4.5V
ON Response

Time

1ms or less

OFF Response
Time

1ms or less

Number of com­mons

4

DI_24V

24 VDC

DI_00

2.7 kΩ

2.7 kΩ

1 kΩ

0.01 µF

DI_01

2.7 kΩ

2.7 kΩ

1 kΩ

0.01 µF

DI_02

2.7 kΩ

2.7 kΩ

1 kΩ

0.01 µF

DI_03

2.7 kΩ

2.7 kΩ

1 kΩ

0.01 µF

Internal circuits

38

Connecting MECHATROLINK Devices Section 3-5

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 560).)

Note For details, refer to YASKAWA ELECTRIC CORPORATION’s

Σ-II SERIES

SGDH MECHATROLINK-II APPLICATION MODULE USER’S MANUAL
MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

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.

DC Relay AC Relay

Solenoid

Surge-absorbing
diode

Surge absorber

Surge absorber

Name Model (OMRON) Model (YASKAWA) Length

MECHATROLINK-II cable
(For W-series)
(With ring core and USB
connector on both ends)

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

39

Connecting MECHATROLINK Devices Section 3-5

The terminating resistance (sold separately) in the table below should be con­nected to the MECHATROLINK-II termination.

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

or 15 nodes (within 50m), no repeater unit is required. A repeater unit is
required to connect MECHATROLINK-II devices more than the cases above.

3-5-2 W-series Servo Driver

W-series Servo Driver requires YASKAWA MECHATROLINK-II I/F 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.

Attaching I/F Unit NS115

Name Model (OMRON) Model (YASKAWA)

Terminating resistance for MECHA­TROLINK-II

FNY-W6022 JEPMC-W6022

Name Model (OMRON) Model (YASKAWA)

Repeater for MECHATROLINK-II FNY-REP2000 JEPMC-REP2000

OMRON R88D-W****

(1)

(2)

(3)

(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 Servo Driver.

40

Connecting MECHATROLINK Devices Section 3-5

Communications setting Set MECAHTROLINK 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.

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.

SW2 Name Setting Content Default setting

Bit 1 Baud rate OFF 4 Mbps ON (Do not

change.)

ON 10 Mbps

Bit 2 No. of Transmitted bytes OFF 17 bytes ON (Do not

change.)

ON 30 bytes

Bit 3 Station address OFF Refer to Station

address setting

OFF

ON

Bit 4 Reserved OFF --- OFF

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)

ON

OFF 1 2 3

4

SW2 (Default setting)

SW1

0

8

C4

3

2

1F

E

D

5

6

79

A

B

41

Connecting MECHATROLINK Devices Section 3-5

Example of connecting I/O
signals

A typical connecting example with standard settings (default settings) is
shown here.

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 user constants.

P

+

−

BAT

BAT

+24VIN

+24V

+

−

DEC

P-OT

N-OT

EXT1

EXT2

EXT3

21

22

47

40

41

42

43

44

46

45

ALO1

ALO2

ALO3

SG

37

38

39

1

FG

3.3 KΩ

COIN+

COIN−

25

26

BK+

BK−

27

28

ALM+

ALM−

31

32

S-RDY+

S-RDY−

29

30

Backup battery
(See note 2.)

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.)

W driver, NS115

CN1

Connector
shell

Connect shield to connector shell.

Alarm code output
Max. operating voltage DC30V
Max. operating current DC20mA

Positioning completed
(ON when P. completed)

BK output (ON when brake released)
(See note 3.)

Servo ready output
(ON when ready)

Servo alarm output
(OFF with alarm)

Photo coupler output
Max. operating voltage DC30V
Max. operating current DC50mA

42

Connecting MECHATROLINK Devices Section 3-5

CN1 terminal layout

Note (1) Connector shell: Connected to FG (Frame ground)

(2) Do not use unused terminals for relays.
(3) Allocate the signal using user constants.
(4) For details, refer to YASKAWA ELECTRIC CORPORATION’s

Σ-II SE-

RIES SGDH MECHATROLINK-II APPLICATION MODULE USER’S
MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)”.

3-5-3 24VDC I/O Module

Communications setting Set MECAHTROLINK communications using SW1 and SW2.

1

SG

2
6

/COIN-

2 SG

2
7

/BK+

3

2
8

/BK-

4

2
9

/S-RDY+

5

3
0

/S-RDY-

6

3
1

ALM+

7

3
2

ALM-

8

3
3

9

3
4

1
0

SG

3
5

1
1

3
6

1
2

3
7

ALO1

1
3

3
8

ALMO2

1
4

3
9

ALO3

1
5

4
0

1
6

4
1

/DEC

1
7

4
2

P-OT

1
8

4
3

N-OT

1
9

4
4

/EXT1

2
0

4
5

/EXT2

2
1

BAT(+)

4
6

/EXT3

2
2

BAT(−)

4
7

+24VIN

2
3

4
8

2
4

4
9

2
5

/COIN

5
0

Battery (−)

Battery (+)

GND

GND

SG GND

GND

Positioning
completed
output

(See note 3.)

(See note 3.)

(See note 3.)

CN1 terminal layout

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

(See note 3.)

(See note 3.)

(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

ON

OFF 1 2 3 4

SW1 (Default setting)

43

Connecting MECHATROLINK Devices Section 3-5

Transmission settings

MECHATROLINK communications can be specified using the DIP switch
(SW1). See the table below.

Note Any change of the settings becomes valid after turning OFF the power once,

and then ON again.

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.

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*)”.

SW1 Name Setting Content Default setting

1 Baud rate OFF 4 Mbps ON (Do not set to

OFF.)

ON 10 Mbps

2 No. of Transmitted bytes OFF 17 bytes OFF

ON 30 bytes

3 Station address OFF Refer to Station

address setting

OFF

ON

--- Reserved OFF --- OFF

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)

0

1

2

3

4

5

8

F

E

D

C

B

6

7

9

A

SW2 (Default setting)

44

Connecting MECHATROLINK Devices Section 3-5

(IN1 connector)

Input 32

24 VDC

A

B

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

24 VDC

Reserved

Reserved Reserved

DCPWR DCPWR

DCPWR DCPWR

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

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

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)

Input 64

24 VDC

A

B

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

24 VDC

Reserved

Reserved Reserved

DCPWR DCPWR

DCPWR DCPWR

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

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

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

45

Connecting MECHATROLINK Devices Section 3-5

(OUT1 connector)

24 VDC

A

B

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

24 VDC

DCGND2

DCGND1 DCGND1

DCPWR2 DCPWR2

DCPWR1 DCPWR1

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

DCGND2

Load Fuse

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

Fuse Load

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

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

Output 31

Output 29

Output 27

Output 25

Output 23

Output 21

Output 19

Outut 17

Output 15

Output 13

Output 11

Output 9

Output 7

Output 5

Output 3

Output 1

(OUT2 connector)

24 VDC

A

B

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

24 VDC

Reserved

Reserved Reserved

DCPWR DCPWR

DCPWR DCPWR

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

Reserved

Load Fuse

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

Fuse Load

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

L

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

Output 63

Output 61

Output 59

Output 57

Output 55

Output 53

Output 51

Outut 49

Output 47

Output 45

Output 43

Output 41

Output 39

Output 37

Output 35

Output 33

46

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.

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.

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.

Pin Name Setting Content Default setting

6 Baud rate OFF 4Mbps OFF

ON 10Mbps

7 Transmission bytes OFF 17byte OFF

ON 30byte

8 Station address OFF Refer to Station

address setting

ON (Do not set to OFF.)

ON

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)
~~
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)
~~
ON ON ON ON ON Do not set.

ON

OFF

1 2345678

SW (Default setting)

47

Connecting MECHATROLINK Devices Section 3-5

Counter module (PL2900) Circuit Configuration and signal connection

Signal arrangement of the terminal block

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Con­troller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL
NO. SIEZ-C887-5.1*)”.

180 Ω

2.7 kΩ

4.7 kΩ

180 Ω

2.7 kΩ

4.7 kΩ

180 Ω

2.7 kΩ

4.7 kΩ

180 Ω

2.7 kΩ

4.7 kΩ

PHA1

PHA1+

PHA1

PHB1

PHB1+

6PHB1

PHA2

PHA2+

PHA2

PHB2

PHB2+

PHB2

2

16

4

3

5

7

6

18

17

19

21

20

24 VDC

24 VDC

4.7 kΩ

620 Ω

8L1

4.7 kΩ

620 Ω

10 RST1

4.7 kΩ

620 Ω

14L2

4.7 kΩ

620 Ω

15RST2

24 VDC

12IN

+ −

Counter module

Counter 1
phase-A
pulse

+−

Counter 1
phase-B
pulse

Counter
2phase-A
pulse

Counter 2
phase-B
pulse

+−

Counter 1
External
latch

+−

Counter 1
external
current
value reset

Counter 2
External
latch

Counter 2
external
current
value reset

External input
common

13

PHA1−5PHB17PHB1+9N1

11
OUT−13N2

15
RST217PHA2−19PHB221PHB2+23+24V

2
PHA14PHA1+6PHB1−8L1

10
RST112IN−

14
L2

16
PHA218PHA2+20PHB2−220(24V)

48

Connecting MECHATROLINK Devices Section 3-5

Pulse output module
(PL2910)

Circuit configuration and signal arrangement

Signal arrangement of the terminal block

For details, refer to YASKAWA ELECTRIC CORPORATION’s “Machine Con­troller MP900 Series MECHATROLINK System USER’S MANUAL (MANUAL
NO. SIEZ-C887-5.1*)”.

5 VDC

L

CCW1 3

L

CC1 5

L

C-OFF1 7

L

B-FREE1 9

+5V

0V(5V)1514

CCW

CW

5 VDC

L

OUT1 17

+24V

0V(24V)2322

OVER

TIMING

11

13

+5V15

0V(5V)14

− +

5 VDC

ZERO

IN1921

+24V23

0V(24V)22

5 VDC

Pulse output module

Overheat
input status

Excitation
timing input
status

External power
supply +5 VDC

External power supply
0VDC (+5VDC)

− +

Home position
signal input
status

General­purpose
input status

External power
supply +24 VDC

External power supply
0 VDC (+24 VDC)

− +

− +

Output current
OFF output

Electromagnetic
brake release
output

General-purpose
output

External power
supply+24 VDC

External power
supply 0 VDC
(+24 VDC)

1
FG

3
CCW15CW17COFF19BFRE111OVER113TIMG115+5V

17
OUT119ZERO121IN1

23
+24V

2
CCW24CW26COFF28BFRE210OVER212TIMG2140(5V)16OUT218ZERO220IN2

22
0(24V)

49

SECTION 4

MC Unit Internal Data Configuration and Setting

This section describes the data configuration uses to set up, operate, and monitor the CS1W-MCH71 Motion Control Unit
and related devices.

4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-1-1 DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4-1-2 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2-1 Description of System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4-2-2 System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4-2-3 Data Configuration and Content of System Parameters. . . . . . . . . . 58

4-2-4 Concept of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

4-2-5 Timing that Enables Transferred System Parameters. . . . . . . . . . . . 91

4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-3-1 Overview of Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-1 Position Data Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-2 Position Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4-3 Indirect Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

4-4-4 Methods Used to Read, Write and Transfer Position Data. . . . . . . . 95

4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-5-1 System Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

4-6-1 I/O Variables Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

4-6-2 List of Input Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

4-6-3 List of Output Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

4-7 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-8 Servo Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-8-1 Servo Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

4-8-2 Data Configuration and Contents of Servo Parameters . . . . . . . . . . 172

4-8-3 Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

4-8-4 Setting Method Using Combination of W-Series and NS115 . . . . . 186

4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

50

Data Configuration Section 4-1

4-1 Data Configuration

Data Type There are five different types of date for MC Unit.

1,2,3... 1. System parameter

Unit parameter
Motion task parameter
Axis parameter (Allocation, Speed, Position, Origin, Machine & Re-

served)

2. Variables
System variables
Global general variables
Input variables
Output variables
Position data
Tas k va ri abl es

3. Present position preset

4. Servo parameter axis specification

5. Servo parameter

Note Neither CAM data nor programs are treated as data. For more details, see 4-9

CAM Data (page 190) and SECTION 6 Programming.

4-1-1 DATA

Classification IORD/IOWR Control

Address

Var iable s WO RD Content s

Variables

Position data 0000h-27FFh PLhhhh 10240 Data indicating positions, Total

number is 10240.

System variables 3000h-33FFh S*hhhh 1024 Statuses such as the operating

mode, error log, etc. of MC Unit

Global general Vari­ables

Nil M*hhhh 8192 Variables that can be accessed

from all tasks.Use for data commu­nications between tasks and opera­tions.

Input variables Nil I*hhhh 2048 Input status from CPU Unit or

MECHATROLINK-II devices

Output variables Nil O*hhhh 2048 Executes outputs from programs to

CPU Unit or MECHATROLINK-II
devices

Task variables Nil D*hhhh 128 × 9 tasks Variables that can be used only in

each task. Use as works in opera­tion.

Present position preset 4000h-401Fh Nil 32 Sets each axis's preset value for

present position.

51

Data Configuration Section 4-1

* The letters to identify data access type, hhhh: 4 digits hexadecimal address

Data Access Method The following methods are used to access to each data. For further details,

refer to SECTION 5 Data Transfer and Storage (page 194).

1,2,3... 1. Use the support tool (MC-Miel).

2. Execute IOWR/IORD instructions (Intelligent I/O Write/Read) from the lad-

der program.

3. Variables can be used in the MC Unit's programs.

"IORD/IOWR Control Address" is the internal address to identify data when
IORD/IOWR instructions are executed from the ladder program. Global vari­ables, input variables, output variables, or task variables cannot be accessed.
See 4-3 Variables (page 91) for details.

Basic Data Usage System parameters:Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during CPU
Unit's operation can change the system parameters as
needed.

Position data: Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during CPU
Unit's operation can change the position data as needed.
It is possible to change the position data also by using
MC Unit's program.

System variables: Read with the IORD instruction from the ladder program

while the CPU Unit is running.
It is also possible to read it from MC Unit's programs.

Servo parameters: Created with the support tool (MC-Miel), and transferred

to the MC Unit. Using the IOWR instruction during the
CPU Unit's operation can change the system parameters
as needed. To use the IOWR instruction, the axis whose
parameters are to be changed has to be specified in
advance.

Other variables: Global general variables, input variables, output vari-

ables, and task variables can be used in MC Unit's pro­grams.

System parameter

Unit 5000h-501Fh Nil 4096 • System parameters are consisted

of unit parameters, task parame­ters and axis parameters.

• The system information used by
the MC Unit, such as number of
axes and tasks, feed rate, operat­ing range etc.

Motion task 5020h-511Fh
Reserved 5120h-513Fh
Reserved 5140h-533Fh
Axis: Allocations 5340h-55BFh
Axis: Speed 55C0h-583Fh
Axis: Position 5840h-5ABFh
Axis: Origin 5AC0h-5D3Fh
Axis: Machine 5D40h-5FBFh
Reserved 5FC0h-5FFFh

Servo parameter axis
Specification

6000h 6000h 1 Specifies the axis to access.

Servo parameter 7000h-78FFh Nil 4096 Parameters of servo driver.

Classification IORD/IOWR Control

Address

Var iable s WO RD Content s

52

System Parameters Section 4-2

4-1-2 Data Configuration

4-2 System Parameters

The system parameters are consisted of the following three different parame­ters.

• Unit parameters

• Motion task parameters

• Axis parameters (Allocations, Speed, Position, origin, Machine)

4-2-1 Description of System Parameters

The following table describes the functions of each parameter group.

<Support Tool>

<CPU Unit>

When IORD instruc­tion is executed

When IOWR instruc­tion is executed

When END refresh

At unit Scanning

Position
data

<MC Unit>

System
parameter

Servo
parameter

System
variable

Input
variable

Output
variable

Global gen­eral variable

Task
variable

Cam data

At unit scanning

<MECHATROLINK-II devices>

Parameters Number IORD/IOWR

Addresses (See

note 3.)

Functions

Unit P00001-P00010 5000h-5009h Specifies information inherent to the Unit, such as the

number of axes used and the number of tasks.

Motion task P00M01-P00M20

(See note 1.)

5020h-5113h Specifies usage of each motion task such as max. inter-

polation feed rate.

53

System Parameters Section 4-2

Note (1) The task number 1 to 8 is to be inserted in M.

(2) The axis number 1 to 32 is to be inserted in AA.
(3) The IORD/IOWR addresses in this table are the actual address range

(excluding reserved ones).

(4) The parameter number is notated in 5-digit decimal in this manual.

4-2-2 System Parameters

Unit Parameters

Axes Allocations P1AA01-P1AA09

(See note 2.)

5340h-55B4h Specifies axis type and device to be used for each axis.

Speed P2AA01-P2AA12

(See note 2.)

55C0h-5837h Specifies max. rapid feed rate and type of acceleration

and deceleration etc. for each axis.

Position P3AA01-P3AA09

(See note 2.)

5840h-5AB4h Specifies the methods regarding to position such as

software limit, error counter warning etc. for each axis.

Origin P4AA01-P4AA12

(See note 2.)

5AC0h-5D37h Specifies the method of origin search for each axis.

Machine P5AA01-P1AA09

(See note 2.)

5D40h-5FB4h Specifies the machine information such as unit sys-

tems, gear ratio, etc. to be used for each axis.

Parameters Number IORD/IOWR

Addresses (See

note 3.)

Functions

P

Group number

Detail number
For the Unit: 1-32
For motion tasks: 1-32

Axis allocations: 1-20
Axis-speed: 1-20
Axis-position: 1-20
Axis-origin: 1-20
Axis-machine: 1-20

Unit
Motion task
Axis: Allocations
Speed
Position
Origin
Machine

000
001-008
100+Axis No.
200+Axis No.
300+Axis No.
400+Axis No.
500+Axis No.

“00M” (M=1 to 8)
“1AA” (AA=1 to 32)
“2AA” (AA=1 to 32)
“3AA” (AA=1 to 32)
“4AA” (AA=1 to 32)
“5AA” (AA=1 to 32)

Number Address Name Function Page

P00001 5000h No. of motion tasks Sets how many motion tasks are to be used. 58
P00002 5001h No. of parallel

branches

Specifies the numbers of both parallel branching and
simultaneous execution commands in each motion task.

59

P00003 5002h Unit scan time Specifies the unit scan time. 59

54

System Parameters Section 4-2

Motion Task Parameters

Note Abbreviation in the No. column: M=1-8 (motion task number)

Abbreviation in the address column: M=0-7 (motion task number

−1)

P00004 5003h Unit function select • Specifies method of specifying the speed in helical circu-

lar interpolation under MOVEC command.

• Specifies center-positioning method for MOVEC com­mand

• Specifies the speed command unit for SPEED com­mand/feedback speed.

• Specifies the operation when maximum speed parame­ter is clamped due to servo driver's specification,
whether to activate alarm or to keep operating in clamp
status.

• Select output method for positioning completed / posi­tioning completed 2 signals.

• Specifies the method for changing the direction for JOG
operation.

• Specifies support for 3-ms communications cycle.

• Specifies the type of continuous operation for multi-turn
operation for an infinite axis

• Specifies behavior when an overtravel alarm occurs

59

P00005 5004h Reserved
P00006 5005h General I/O Dis-

abled/Enabled

Specifies general I/O signals disable/enable for MC unit. 60

P00007 5006h Input control 1 from

PLC

Specifies whether input signals from CPU to the Unit or
motion tasks are enabled or disabled.

61

P00008 5007h Input control 2 from

PLC

Specifies whether input signals from CPU to axes are
enabled or disabled.

62

P00009 5008h Setting for the No. of

MECHATROLINK-II
Retrial Nodes, With/
without C2 master

• No. of retrial nodes: Specifies the number of nodes to be
retried within MECHATROLINK-II communication cycle.

• With/without C2 master: Set this parameter when there
is a master unit other than MC unit. (reserved)

64

P00010 5009h MECHATROLINK-II

Delay in Communi­cation Start

Specifies the time to make the communication start
delayed in order to wait for slave startup.

65

P00011

­P00032

500Ah

­501Fh

Reserved ---

Number Address Name Function Page

No.

M=1-8

Address

M=0-7

Name Function Page

P00M01 5020h +

(M * 20h)

Max. interpolation
feed rate

Sets the maximum feed rate (F command) in interpolation
operation

65

P00M02 5021h +

(M * 20h)

Interpolation feed
acceleration time

Sets the time required to accelerate from zero to max.
interpolation feed rate.

66

P00M03 5022h +

(M * 20h)

Interpolation feed
deceleration time

Sets the time required to decelerate from max. interpola­tion feed rate to zero in interpolation.

66

P00M04 5023h +

(M * 20h)

Interpolation S-curve
filter enabled

Select enable /disable of S-curve filter at the interpolation
feed rate.

67

P00M05 5024h +

(M * 20h)

Interpolation S-curve
time constant

Sets the S-curve filter time constant at the interpolation
feed rate.

67

P00M06 5025h +

(M * 20h)

Pass mode select Sets the combination of the interpolation Accel/decel time

and Pass mode with fixed acceleration disabled/enabled.

67

P00M07 5026h +

(M * 20h)

Initial modal data 1
MOVE command
value select

Specifies the initial value if ABL/INC specification has
been omitted in a motion program.

68

55

System Parameters Section 4-2

Axis-Allocation Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

P00M08 5027h +

(M * 20h)

Initial modal data 2
operating mode
select

Specifies the initial value if PASSMODE/STOPMODE
specification has been omitted in a motion program.

68

P00M09 5028h +

(M * 20h)

Initial model data 3
interpolation feed
rate

Specifies the initial value if interpolation feed rate (F com­mand) has been omitted in a motion program.

68

P00M10 5029h +

(M * 20h)

Interpolation feed
decimal point posi­tion

Sets the method of interpreting the speed command
value specified by an immediate value with a decimal
point.

69

P00M11

­P00M20

502Ah +
(M * 20h)

­5033h +
(M * 20h)

Interpolation feed
acceleration/deceler­ation bank 1

­Interpolation feed
acceleration/deceler­ation bank 10

Specify the acceleration/deceleration times to use during
interpolation. Banks are used to enable quickly switching
acceleration/deceleration times with the PARAM com­mand.

69

P00M21

­P00M32

5034h +
(M * 20h)

­503Fh +
(M * 20h)

Reserved ---

No.

AA=1-32

Address
AA=0-31

Name Function Page

P1AA01 5340h +

(AA * 14h)

Physical axis setting Specifies the usage of physical axis. 70

P1AA02 5341h +

(AA * 14h)

MECHATROLINK-II
device classification

Sets classification of devices connected as MECHA­TROLINK-II slave nodes.

71

P1AA03 5342h +

(AA * 14h)

Input allocation
points

Specifies the No. of points for input signals of MECHA­TROLINK-II slave nodes allocated to input variables of
MC Unit.

71

P1AA04 5343h +

(AA * 14h)

Output allocation
points

Specifies the No. of points for output signals of MECHA­TROLINK-II slave nodes allocated to output variables of
MC Unit.

71

P1AA05 5344h +

(AA * 14h)

Axis allocation first
address

This is the setting for the counter input/pulse output count
values of MECHATROLINK-II output to the present posi­tion of MC Unit.

72

P1AA06 5345h +

(AA * 14h)

MECHATROLINK-II
communications
error detection

Sets the No. of allowable times of communications errors
on MECHATROLINK-II device.

72

P1AA07 5346h +

(AA * 14h)

Reserved ---

P1AA08 5347h +

(AA * 14h)

Reserved ---

P1AA09 5348h +

(AA * 14h)

Reserved ---

P1AA10

­P1AA20

5349h +
(AA * 14h)

­5353h +
(AA * 14h)

Reserved ---

No.

M=1-8

Address

M=0-7

Name Function Page

56

System Parameters Section 4-2

Axis-Speed Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

Axis-Position Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No.

AA=1-32

Address
AA=0-31

Name Function Page

P2AA01 55C0h +

(AA * 14h)

Max. rapid feed rate Sets the maximum speed on machine's side for MOVE

Command, etc.

73

P2AA02 55C1h +

(AA * 14h)

Max. manual feed
rate

Sets maximum speed on machine's side in JOG, STEP,
DATUM operations.

73

P2AA03 55C2h +

(AA * 14h)

Rapid feed rate Sets the speed on machine's side for MOVE command,

etc.

74

P2AA04 55C3h +

(AA * 14h)

Manual feed rate Sets the speed on machine's side in JOG, STEP opera-

tions.

74

P2AA05 55C4h +

(AA * 14h)

Rapid feed accelera­tion time

Sets the time required to accelerate from zero to max.
rapid feed rate.

74

P2AA06 55C5h +

(AA * 14h)

Rapid feed decelera­tion time

Sets the time required to decelerate from the max. rapid
feed rate to zero.

74

P2AA07 55C6h +

(AA * 14h)

Manual feed acceler­ation time

Sets the time required to accelerate from zero to maxi­mum manual feed rate

75

P2AA08 55C7h +

(AA * 14h)

Manual feed deceler­ation time

Sets the time required to decelerate from max. manual
feed rate to zero.

75

P2AA09 55C8h +

(AA * 14h)

Rapid feed S-curve
filter enabled

Select the S-curve filter enable/ disable at rapid feed rate. 75

P2AA10 55C9h +

(AA * 14h)

Manual feed S-curve
filter enabled

Select the S-curve filter enable/ disable at manual feed
rate.

76

P2AA11 55CAh +

(AA * 14h)

Rapid feed S-curve
time constant

Sets the S-curve filter time constant at raid feed rate. 76

P2AA12 55CBh +

(AA * 14h)

Manual feed S-curve
time constant

Sets the S-curve filter time constant at manual feed rate. 76

P2AA13

­P2AA20

55CCh +
(AA * 14h)

­55D3h +
(AA * 14h)

Reserved ---

No.

AA=1-32

Address
AA=0-31

Name Function Page

P3AA01 5840h +

(AA * 14h)

STEP operation
travel distance

Sets travel distance for STEP operation. 76

P3AA02 5841h +

(AA * 14h)

Positive direction
software limit

Sets positive direction software limit value. 77

P3AA03 5842h +

(AA * 14h)

Negative direction
software limit

Sets negative direction software limit value. 77

P3AA04 5843h +

(AA * 14h)

Software limit
enabled/disabled

Sets whether software Limit is enabled/disabled. 78

P3AA05 5844h +

(AA * 14h)

Error warning value Sets enabled/disabled of warning and the No. of error

pulses that causes warning.

78

P3AA06 5845h +

(AA * 14h)

Position error alarm
detection value

Sets enabled/disabled of alarm and the No. of error
pulses that causes alarm.

78

P3AA07 5846h +

(AA * 14h)

No. 2 in-position
range

Sets the range for turning ON the positioning completed
signal of interpolation feed in Stop mode.

78

57

System Parameters Section 4-2

Axis-Origin Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

P3AA08 5847h +

(AA * 14h)

Feed forward gain
enabled/disabled

Sets enabled/disabled of feed forward gain specified with
input variable.

79

P3AA09 5848h +

(AA * 14h)

Position control
switching speed

Specifies the speed to switch from torque control to posi­tion control or from speed control to position control as a
percentage of the rated speed.

79

P3AA10

­P3AA20

5849h +
(AA * 14h)

­5853h +
(AA * 14h)

Reserved ---

No.

AA=1-32

Address
AA=0-31

Name Function Page

No.

AA=1-32

Address
AA=0-31

Name Function Page

P4AA01 5AC0h +

(AA * 14h)

Origin search
method

Sets the origin search method. 80

P4AA02 5AC1h +

(AA * 14h)

Origin search start
direction

Sets origin search start direction for origin search method
"1".

80

P4AA03 5AC2h +

(AA * 14h)

Phase-Z (Phase-C)
detection direction

Sets phase-Z (phase-C) detection direction for origin
search methods "1, 2, and 3".

81

P4AA04 5AC3h +

(AA * 14h)

Origin deceleration
method

Sets whether to use origin proximity or limit input signal
as origin deceleration input signal for origin search
method "1" and "3".

81

P4AA05 5AC4h +

(AA * 14h)

Reserved ---

P4AA06 5AC5h +

(AA * 14h)

Origin determine sig­nal

Specifies signal to determine (latch) an origin. 81

P4AA07 5AC6h +

(AA * 14h)

Origin search feed
rate

Sets the speed of the 1st level for 3-level speed origin
search.

82

P4AA08 5AC7h +

(AA * 14h)

Origin search
approach speed

Sets the speed of the 2nd level for 3-level speed origin
search, or sets the speed of the 1st level for 2-level speed
origin search.

82

P4AA09 5AC8h +

(AA * 14h)

Origin search creep
speed

Sets the speed of the 3rd level for 3-level speed origin
search, or sets the speed of the 2nd level for 2-level
speed origin search.

82

P4AA10 5AC9h +

(AA * 14h)

Reference (Machine)
origin offset

Sets the offset amount (except for DATUM command) in
origin search.

82

P4AA11 5ACAh +

(AA * 14h)

Origin search final
travel distance

Sets the additional travel distance starting from the origin
signal input position towards the detection direction.

83

P4AA12 5ACBh +

(AA * 14h)

ABS origin offset Sets offset amount for ABS origin setting. 83

P4AA13

­P4AA20

5ACCh +
(AA * 14h)

­5AD3h +
(AA * 14h)

Reserved ---

58

System Parameters Section 4-2

Axis-Machine Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

4-2-3 Data Configuration and Content of System Parameters

Parameters with "Yes" in "Immediate updating" column are updated without
switching OFF the Unit once, and then ON again.

In the setting range and initial value columns, the upper value is in hexadeci­mal while the lower value in parenthesis is in decimal.

Unit Parameters

No.

AA=1-32

Address
AA=0-31

Name Function Page

P5AA01 5D40h +

(AA * 14h)

Units Sets the units for present positions. 83

P5AA02 5D41h +

(AA * 14h)

Position command
decimal point posi­tion

Sets the method of interpreting the position command
specified by an immediate value with decimal point.

84

P5AA03 5D42h +

(AA * 14h)

Speed command
decimal point posi­tion

Sets the method of interpreting the speed command
specified by an immediate value with a decimal point.

85

P5AA04 5D43h +

(AA * 14h)

Command unit/one
machine rotation

Sets the command unit (travel distance) per one machine
rotation.

85

P5AA05 5D44h +

(AA * 14h)

Gear ratio 1 (Motor
rotation speed)

Sets the No. of motor rotations related to the gear ratio
between motor and machine.

86

P5AA06 5D45h +

(AA * 14h)

Gear ratio 2
(Machine rotation
speed)

Sets the No. of machine rotations related to the gear ratio
between motor and machine.

86

P5AA07 5D46h +

(AA * 14h)

Axis feed mode Sets whether a concerned axis is operated as limited

length or unlimited length.

87

P5AA08 5D47h +

(AA * 14h)

External input signal
select 1

• Sets the latch input signal for MOVEI command (inter­rupt feeding).

• Sets the latch input signal for MOVELINK command
(link operation start).

• Sets the latch input signal for CAMBOX command (elec­tronic cam synchronous start).

• Sets the latch input signal for SYNC command (trail syn­chronization start).

87

P5AA09 5D48h +

(AA * 14h)

External input signal
select 2

Sets the latch input signal for LATCH command (present
position latch).

88

P5AA10 5D49h +

(AA * 14h)

Reserved ---

P5AA11 5D4Ah +

(AA * 14h)

Reserved ---

P5AA12

­P5AA20

5D4Bh +
(AA * 14h)

­5D53h +
(AA * 14h)

Reserved ---

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00001 5000h No. of motion tasks Data Task No
Data configuration Setting range

00000001 to 00000008 Hex
(1 to 8)

Initial value
00000001 (1)

31 00

No. of motion tasks

59

System Parameters Section 4-2

Explanation
Specifies the upper limit for No. of tasks to be used. Task No. up to the value
set here can be used.

Note This setting closely relates to the Unit's processing time. For details, see 1-7

Performance Calculation Method for Unit Cycle on page 19.

Explanation
Specifies the numbers of both parallel branching and simultaneous execution
commands in each motion task.

This setting affects the maximum number of branches for PARALLEL (parallel
execution) command. (It is limited by the value set here.) When the number of
parallel branches in a motion program is smaller than the value set in this
parameter, the value obtained from dividing the value in the parameter by the
actual number of branches becomes the number of commands that can be
executed simultaneously for each row of each branched program.

The number of multiple execution commands in each unit cycle is applied to
the simultaneous execution.

(For details, see 6-1-3 Advancement of the Motion Program (page 222))

Note This setting closely relates to the Unit's processing time. For details, see 1-7

Performance Calculation Method for Unit Cycle on page 19.

Explanation

• Sets the unit scan time.

• Only setting the longer time than the time set automatically is valid.

• The time set automatically will be reflected in the system variable
SW0000. (See 4-5 System Variables for details.)

For details of the enabling condition, see 1-7 Performance Calculation Method
for Unit Cycle on page 19.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00002 5001h No. of parallel branches Data --- No
Data configuration Setting range

00000001 to 00000008 Hex
(1 to 8)

Initial value
00000001 (4)

31 00

No. of parallel branches

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00003 5002h Unit scan time Data ms No
Data configuration Setting range

00000001 to 00000010 Hex
(0 to 16)

Initial value
00000000 (0)

31 00

Unit scan time

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00004 5003h Unit function select Bit --- No
Data configuration Initial value

00000000
(0)

31

28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0 0 0 0 0 00000000000

60

System Parameters Section 4-2

Explanation
This parameter is used for setting the following functions. Set the bits corre­sponding to each function.

Bit Function and explanation

00 Helical circular interpolation speed

(Sets the method for specifying the speed in helical circular interpolation executed with MOVEC com­mand.)

0: Speed on the circumference
1: Tangential speed

01 Circular interpolation center position

(Sets the method for specifying the center position for MOVEC command.) Refer to the description of
the MOVEC command for details.

0: Always specify relative positions.
1: Specify relative or absolute positions.

02 Speed command value

(Specifies the speed command unit for SPEED command and the unit for feedback speed 2 in
present value monitoring.)

0: Rated % specified
1: r/min specified

03 Communications cycle support (Unit Ver. 2.0 or later only)

Specifies the communications cycle.
Normally set this parameter to 1. A setting of 0 is provided for compatibility with Pre-Ver. 2.0 Units.

0: Support 1 ms, 2 ms, and 4 ms communications cycles.
1: Support 1 ms, 2 ms, 3 ms, and 4 ms communications cycles.

04 Positioning completed signal select

(Specifies the condition for turning OFF the positioning completed signal.)

0: Turns OFF when starting the position command output
1: Turns OFF when moving out of the in-position range

05 Direction switching method for JOG operation (Unit Ver. 2.0 or later only)

Specifies the direction for switching the direction for the JOG operation. Refer to JOG Operation on
page 436 for details.

0: Switch direction when stopped using the JOG/STEP direction bit.
1: Switch direction when stopped or when moving using the JOG/STEP direction bit.

06 Continuing operation for multi-turn operation with infinite axis (Supported by MC Units manufactured 2

February 2004 or later (Lot No. 040202xxxx or later).

Specifies the behavior when continuing operation after is has been stopped for an infinite length axis
with a command position greater than 1 turn. Refer to When a program is stopped in the middle of a
block for an infinite length axis on page 350 for details.
This function is effective for three commands: MOVE, MOVEL, and MOVET.

0: Cancel part of operation greater than one turn and continue operation to a position within one

turn.

1: Continue operation toward command position.

07 Behavior for overtravel (Supported by MC Units manufactured 2 February 2004 or later (Lot No.

040202xxxx or later).

Specifies the behavior for when overtravel is detected during axis operation.

0: Stop according to Pn001.1 in the Servo Driver.
1: Stop according to Pn001.0 in the Servo Driver and then turn OFF the servo.

If this parameter is set to 1 and Pn001.0 is set to 2, the motor will be placed in free-run status
and then the servo will be turned OFF. Caution is required when using these settings because
the braking distance may increase.

08 to 31Reserved

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00006 5005h General I/O disabled/enabled Bit --- No
Data configuration Initial value

00000000
(0)

31 28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0 0 0 0 0 0 000000000000

61

System Parameters Section 4-2

Explanation
Sets whether the general I/O of MC Unit is enabled or disabled. Set the bits
corresponding to each input or output.

Explanation
Sets whether the input from CPU to MC Unit is enabled or disabled.
By setting 1 (ignored), no input from CPU can be accepted by the area.
Set the bits corresponding to the Unit or each motion task.

Bit Function and explanation

00 Deceleration stop input

Sets whether deceleration stop input signal is enabled or disabled.

0: Disabled

1: Enabled
01 Reserved
02 General input 1

Sets whether general input 1 signal is enabled or disabled.

0: Disabled

1: Enabled
03 General input 2

Sets whether general input 2 signal is enabled or disabled.

0: Disabled

1: Enabled
04 to 15Not used

16 General output 1

Sets whether general output 1 signal is enabled or disabled.

0: Disabled

1: Enabled
17 General output 2

Sets whether general output 2 signal is enabled or disabled.

0: Disabled

1: Enabled
18 to 31Not used

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00007 5006h Input control 1 from PLC Bit --- No
Data configuration Initial value

00000000
(0)

31 28 24 20 16 12 08 04 00

0 0 0 0 0 0 0 0 0000000 00000 0 0 0

Motion task setting

Bit Function and explanation

00 Unit

Sets whether the input to the Unit control bit area (n+0 to n+2) and the Unit control data area (m+20)
are enabled or disabled.

0: Normal

1: Ignored
01 Reserved
02 to 15Not used

16 Motion task 1

Sets whether the input to the Motion task 1 control area (n+4) and the Motion task 1 control data area
(m+22 to 23) are enabled or disabled.

0: Normal

1: Ignored

62

System Parameters Section 4-2

Explanation
Sets whether the input from CPU to MC Unit is enabled or disabled.
By setting 1 (Ignored), no input from CPU can be accepted by the area.
Set the bits corresponding to each axis.

17 Motion task 2

Sets whether the input to the Motion task 2 control area (n+5) and the Motion task 2 control data area
(m+24 to 25) are enabled or disabled.

0: Normal

1: Ignored
18 Motion task 3

Sets whether the input to the Motion task 3 control area (n+6) and the Motion task 3 control data area
(m+26 to 27) are enabled or disabled.

0: Normal

1: Ignored
19 Motion task 4

Sets whether the input to the Motion task 4 control area (n+7) and the Motion task 4 control data area
(m+28 to 29) are enabled or disabled.

0: Normal

1: Ignored
20 Motion task 5

Sets whether the input to the Motion task 5 control area (n+8) and the Motion task 5 control data area
(m+30 to 31) are enabled or disabled.

0: Normal

1: Ignored
21 Motion task 6

Sets whether the input to the Motion task 6 control area (n+9) and the Motion task 6 control data area
(m+32 to 33) are enabled or disabled.

0: Normal

1: Ignored
22 Motion task 7

Sets whether the input to the Motion task 7 control area (n+10) and the Motion task 7 control data
area (m+34 to 35) are enabled or disabled.

0: Normal

1: Ignored
23 Motion task 8

Sets whether the input to the Motion task 8 control area (n+11) and the Motion task 8 control data
area (m+36 to 37) are enabled or disabled.

0: Normal

1: Ignored
24 to 31Not used

Bit Function and explanation

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00008 5007h Input control 2 from PLC Bit --- No
Data configuration Initial value

00000000
(0)

31 28 24 20 16 12 08 04 00

63

System Parameters Section 4-2

Bit Function and explanation Bit Function and explanation

00 Axis 1

Sets whether input to Axis 1 control bit area
(x+0) and Axis 1 control data area (d+0) are
enabled or disabled.

0: Normal

1: Ignored

16 Axis 17

Sets whether input to Axis 17 control bit
area (x+16) and Axis 17 control data area
(d+16) are enabled or disabled.

0: Normal
1: Ignored

01 Axis 2

Sets whether input to Axis 2 control bit area
(x+1) and Axis 2 control data area (d+1) are
enabled or disabled.

0: Normal

1: Ignored

17 Axis 18

Sets whether input to Axis 18 control bit
area (x+17) and Axis 18 control data area
(d+17) are enabled or disabled.

0: Normal
1: Ignored

02 Axis 3

Sets whether input to Axis 3 control bit area
(x+2) and Axis 3 control data area (d+2) are
enabled or disabled.

0: Normal

1: Ignored

18 Axis 19

Sets whether input to Axis 19 control bit
area (x+18) and Axis 19 control data area
(d+18) are enabled or disabled.

0: Normal
1: Ignored

03 Axis 4

Sets whether input to Axis 4 control bit area
(x+3) and Axis 4 control data area (d+3) are
enabled or disabled.

0: Normal

1: Ignored

19 Axis 20

Sets whether input to Axis 20 control bit
area (x+19) and Axis 20 control data area
(d+19) are enabled or disabled.

0: Normal
1: Ignored

04 Axis 5

Sets whether input to Axis 5 control bit area
(x+4) and Axis 5 control data area (d+4) are
enabled or disabled.

0: Normal

1: Ignored

20 Axis 21

Sets whether input to Axis 21 control bit
area (x+20) and Axis 21 control data area
(d+20) are enabled or disabled.

0: Normal
1: Ignored

05 Axis 6

Sets whether input to Axis 6 control bit area
(x+5) and Axis 6 control data area (d+5) are
enabled or disabled.

0: Normal

1: Ignored

21 Axis 22

Sets whether input to Axis 22 control bit
area (x+21) and Axis 22 control data area
(d+21) are enabled or disabled.

0: Normal
1: Ignored

06 Axis 7

Sets whether input to Axis 7 control bit area
(x+6) and Axis 7 control data area (d+6) are
enabled or disabled.

0: Normal

1: Ignored

22 Axis 23

Sets whether input to Axis 23 control bit
area (x+22) and Axis 23 control data area
(d+22) are enabled or disabled.

0: Normal
1: Ignored

07 Axis 8

Sets whether input to Axis 8 control bit area
(x+7) and Axis 8 control data area (d+7) are
enabled or disabled.

0: Normal

1: Ignored

23 Axis 24

Sets whether input to Axis 24 control bit
area (x+23) and Axis 24 control data area
(d+23) are enabled or disabled.

0: Normal
1: Ignored

08 Axis 9

Sets whether input to Axis 9 control bit area
(x+8) and Axis 9 control data area (d+8) are
enabled or disabled.

0: Normal

1: Ignored

24 Axis 25

Sets whether input to Axis 25 control bit
area (x+24) and Axis 25 control data area
(d+24) are enabled or disabled.

0: Normal
1: Ignored

09 Axis 10

Sets whether input to Axis 10 control bit
area (x+9) and Axis 10 control data area
(d+9) are enabled or disabled.

0: Normal

1: Ignored

25 Axis 26

Sets whether input to Axis 26 control bit
area (x+25) and Axis 26 control data area
(d+25) are enabled or disabled.

0: Normal
1: Ignored

64

System Parameters Section 4-2

Explanation

10 Axis 11

Sets whether input to Axis 11 control bit
area (x+10) and Axis 11 control data area
(d+10) are enabled or disabled.

0: Normal

1: Ignored

26 Axis 27

Sets whether input to Axis 27 control bit
area (x+26) and Axis 27 control data area
(d+26) are enabled or disabled.

0: Normal
1: Ignored

11 Axis 12

Sets whether input to Axis 12 control bit
area (x+11) and Axis 12 control data area
(d+11) are enabled or disabled.

0: Normal

1: Ignored

27 Axis 28

Sets whether input to Axis 28 control bit
area (x+27) and Axis 28 control data area
(d+27) are enabled or disabled.

0: Normal
1: Ignored

12 Axis 13

Sets whether input to Axis 13 control bit
area (x+12) and Axis 13 control data area
(d+12) are enabled or disabled.

0: Normal

1: Ignored

28 Axis 29

Sets whether input to Axis 29 control bit
area (x+28) and Axis 29 control data area
(d+28) are enabled or disabled.

0: Normal
1: Ignored

13 Axis 14

Sets whether input to Axis 14 control bit
area (x+13) and Axis 14 control data area
(d+13) are enabled or disabled.

0: Normal

1: Ignored

29 Axis 30

Sets whether input to Axis 30 control bit
area (x+29) and Axis 30 control data area
(d+29) are enabled or disabled.

0: Normal
1: Ignored

14 Axis 15

Sets whether input to Axis 15 control bit
area (x+14) and Axis 15 control data area
(d+14) are enabled or disabled.

0: Normal

1: Ignored

30 Axis 31

Sets whether input to Axis 31 control bit
area (x+30) and Axis 31 control data area
(d+30) are enabled or disabled.

0: Normal
1: Ignored

15 Axis 16

Sets whether input to Axis 16 control bit
area (x+15) and Axis 16 control data area
(d+15) are enabled or disabled.

0: Normal

1: Ignored

31 Axis 32

Sets whether input to Axis 32 control bit
area (x+31) and Axis 32 control data area
(d+31) are enabled or disabled.

0: Normal
1: Ignored

Bit Function and explanation Bit Function and explanation

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00009 5008h Setting for the No. of MECHA-

TROLINK-II retrial nodes

Data --- No

Data configuration Initial value

00000000 (0)

31 16 00

0 0 0 0 0 0

Bit Function and explanation

00 to 15Not used

16 to 19No. of retrial nodes

This setting decides how many retries are performed within a communication cycle in the case of a
MECHATROLINK-II communications error. (Not for each and every node, but for a maximum of 7
nodes in a system)
0 to 7 Hex (0 to 7)

20 to 31Not used

65

System Parameters Section 4-2

• Operation with the number of retrial nodes set

Note (1) Setting the number of retrial nodes makes MC Unit reserve the time in the

cycle time for the specified number of retries.
(Even without any communications error or retries, the processing time
for them is added to the cycle time.)

(2) This setting closely relates to the communications cycle. For details, see

1-7 Performance Calculation Method for Communications Cycle on
page 20.

Explanation

• Specifies the time to make the communication start delayed in order to
wait for slave startup.

• A period of time set here is waited for after the MC Unit has started up,
and then starts communications with the slaves.

Motion Task Parameters

Note Abbreviation in the No. column: M=1-8 (motion task number)

Abbreviation in the address column: M=0-7 (motion task number

−1)

Explanation

• This parameter sets the max. interpolation feed rate. (Operand F)
The max speed is limited by (32767 command unit/unit scan).

P00M01 [command unit/min]

≤ 1966020000/Ts [ms]

Ts [s]: Unit scan time
This indicates the unit cycle time of MC Unit determined by the numbers of
tasks, axes, parallel branches, and refreshed words.

Com­mand

Com­mand

Com­mand

Com­mand

Com­mand

Re­sponse

Re­sponse

Re­sponse

Re­sponse

Re­sponse

Communi­cations
error!

After a command is transmitted to
all the nodes, the command is trans­mitted again to the nodes where the
communications error occurred.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00010 5009h MECHATROLINK-II delay in com-

munication start

Data --- No

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000000 (0)

31 00

Delay in communications start

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M01 5020h +

(M * 20h)

Max. interpolation feed rate Data Command unit/

min

Ye s

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Max. interpolation feed rate

66

System Parameters Section 4-2

1966020000:
The upper limit of speed resolution is 32767 [command unit/unit scan]. The
value 1966020000 is obtained by converting 32767 [command unit/unit
scan] to the unit of minutes (32767

× 60 × 1000).

Note The setting of this parameter limits the speed changed with override and the

speed specified with Operand F.

Explanation

• Pass Mode (P00M06) = 0 or 1
Sets the time required to accelerate from zero to the feed rate specified in
the interpolation command.

• Pass Mode (P00M06) = 2 or 3
Sets the time required to accelerate from zero to the maximum interpola­tion feed rate (P00M06).

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.
(3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation

• Pass Mode (P00M06) = 0 or 1
Sets the time required to decelerate from the feed rate specified in the
interpolation command to zero.

• Pass Mode (P00M06) = 2 or 3
Sets the time required to decelerate from the maximum interpolation feed
rate (P00M06) to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.
(3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M02 5021h +

(M * 20h)

Interpolation feed acceleration
time

Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Acceleration time

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M03 5022h +

(M * 20h)

Interpolation feed deceleration
time

Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Deceleration time

67

System Parameters Section 4-2

Explanation
Select enabled/disabled of S-curve filter at the interpolation feed rate.

0: Disabled (Symmetrical)
1: Enabled (S-curve)

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation
Sets the S-curve filter time constant at the interpolation feed rate.

Explanation
Sets the combination of the interpolation Accel/decel time and Pass mode
with fixed acceleration enabled/disabled.

0: Interpolation acceleration time + Pass mode with fixed acceleration

disabled

1: Interpolation deceleration time + Pass mode with fixed acceleration

disabled

2: Interpolation acceleration time + Pass mode with fixed acceleration

enabled

3: Interpolation deceleration time + Pass mode with fixed acceleration

enabled

Note (1) 2 and 3 are enabled when specifying only 1 axis with MOVEL command.

(2) Interpolation override in Pass mode with fixed acceleration is disabled

during deceleration caused by insufficient remaining travel distance.

(3) Pass mode with fixed acceleration cannot complete the passing opera-

tion under the following condition. After a deceleration stop, the next op­eration is executed.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M04 5023h +

(M * 20h)

Interpolation S-curve filter enabled Data --- Yes

Data configuration Setting range

00000000 to 00000001 Hex
(0 to 1)

Initial value
00000000 (0)

31 00

S-curve filter enabled

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M05 5024h +

(M * 20h)

Interpolation S-curve time constant Data ms Yes

Data configuration Setting range

00000000 to 00007530 Hex
(0 to 30000)

Initial value
00000064 (100)

31 00

S-curve time constant

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M06 5025h +

(M * 20h)

Pass mode select Data --- No

Data configuration Setting range

00000000 to 00000003 Hex
(0 to 3)

Initial value
00000000 (0)

31 00

Pass mode select

68

System Parameters Section 4-2

Distance required for deceleration stop from current speed > Travel dis­tance of the next block

(4) There are several acceleration/deceleration times that can be used in the

pass operation. For details, see 6-1-5 Axis Movement Operation
(page 228).

Explanation
Specifies the initial value if ABS/INC specification has been omitted in a
motion program.

0: ABL (Operation is executed defining the target position as the abso-

lute position.)

1: INC (Operation is executed defining the target position as the relative

position.)

Explanation
Specifies the initial value if PASSMODE/STOPMODE specification has been
omitted in a motion program.

0: Operation is executed in Pass mode.
1: Operation is executed in Stop mode.

Explanation

• Specifies the initial value if interpolation feed rate (F command) has been
omitted in a motion program.
The max speed is limited by (32767 command unit/unit scan).

P00M09 [command unit/min]

≤ 1966020000/Ts [ms]

Ts[s]: Unit scan time
This indicates the unit cycle time of MC Unit determined by the numbers of
tasks, axes, parallel branches, and refreshed words.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M07 5026h +

(M * 20h)

Initial modal data 1 MOVE com­mand value select

Data --- No

Data configuration Setting range

00000000 to 00000001 Hex
(0 to 1)

Initial value
00000000 (0)

31 00

MOVE command value select

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M08 5027h +

(M * 20h)

Initial modal data 2 Operating
mode select

Data --- No

Data configuration Setting range

00000000 to 00000001 Hex
(0 to 1)

Initial value
00000000 (0)

31 00

Operating mode select

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M09 5028h +

(M * 20h)

Initial modal data 3 Interpolation
feed rate

Data Command unit/

min

No

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Interpolation feed rate

69

System Parameters Section 4-2

1966020000:
The upper limit of speed resolution is 32767 [command unit/unit scan]. The
value 1966020000 is obtained by converting 32767 [command unit/unit
scan] to the unit of minutes (32767

× 60 × 1000).

Explanation
Sets the method of interpreting the speed command value specified by an
immediate value with a decimal point.

0:

×1

1:

×10

2:

×100

3:

×1000

4:

×10000

Ex) When controlling X-axis with task 1 and selecting ×10 of interpolation feed

decimal point position (P00M10) for task 1,
MOVEL [J01]100.00 F100.;
is processed as,
MOVEL [J01]100.00 F1000;

Note The following notations have the same meaning when Interpolation feed deci-

mal point position (P00M10) is

×10.

Please note that they are treated differently from position command values.
MOVEL [J01]100.00 F1000;
MOVEL [J01]100.00 F100.;
MOVEL [J01]100.00 F100.0;

Explanation
These parameters are supported by unit version 2.0 or later.
They set the acceleration/deceleration times for interpolation feeding
(MOVEL, MOVEC, and MOVETRAV).
The following variables are provided and the bank number for each task can
be specified by substituting it for the variable to switch the acceleration/decel­eration time to be used.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M10 5029h +

(M * 20h)

Interpolation feed decimal point
position

Data --- No

Data configuration Setting range

00000000 to 00000004 Hex
(0 to 4)

Initial value
00000000 (0)

31 00

Interpolation feed decimal point position

No. Address in MC

Unit

Name Type Unit Immediate

updating

P00M11 to
P00M20

502Ah +
(M * 20h) to
5033h +
(M * 20h)

Interpolation feed acceleration/
deceleration bank 1 to Interpola­tion feed acceleration/decelera­tion bank 10

Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Interpolation feed acceleration/deceleration bank
1 to 10

Variable Bits Name

IW0A00 00 to 15 Acceleration/deceleration bank selection for motion task 1 (initial value: 0)
IW0A01 00 to 15 Acceleration/deceleration bank selection for motion task 2 (initial value: 0)
IW0A02 00 to 15 Acceleration/deceleration bank selection for motion task 3 (initial value: 0)

70

System Parameters Section 4-2

Setting range for acceleration/deceleration bank selections:

1 to 10: Select the acceleration/deceleration time in banks 1 to 10.
Other: Selects P00M02 (interpolation feed acceleration time) and
P00M03 (interpolation feed deceleration time).

The setting of system parameter P00M06 (pass mode select) determines
whether the value is used as the acceleration time or as the deceleration time.

P00M06 = 0 or 2: Used as acceleration time.
P00M06 = 1 or 3: Used as deceleration time.

Refer to Operating Mode under 6-1 Program and Task Configuration
(page 232) for details.

Axis-Allocation Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

Explanation
Sets the usage of the physical axes (J01 to J32) to be used with MCH.

Note (1) For details of the differences between the virtual axis and the actual axis,

see 6-1-13 Virtual Axis (page 256).

(2) This setting relates to the unit cycle and communications cycle.

For details, see 1-7 Performance Calculation Method for Unit Cycle, Cal-
culation Method for Communications Cycle on page 20.

IW0A03 00 to 15 Acceleration/deceleration bank selection for motion task 4 (initial value: 0)
IW0A04 00 to 15 Acceleration/deceleration bank selection for motion task 5 (initial value: 0)
IW0A05 00 to 15 Acceleration/deceleration bank selection for motion task 6 (initial value: 0)
IW0A06 00 to 15 Acceleration/deceleration bank selection for motion task 7 (initial value: 0)
IW0A07 00 to 15 Acceleration/deceleration bank selection for motion task 8 (initial value: 0)

Variable Bits Name

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA01 5340h +

(AA * 14h)

Physical axis setting Data --- No

Data configuration Setting range

00000000 to 00000020 Hex
(0 to 32)

Initial value
00000000 (0)

31 00

Physical axis setting

Setting Description

00000000 Hex (0) Not used as physical axes.
00000001

to0000001E Hex (1
to 30)

These axes are used as real axes.
MECHATROLINK-II devices are used for real axes.
Sets the node addresses of MECHATROLINK-II devices.
Node addresses of MECHATROLINK-II devices 1 to 30 corre-

spond to the setting values 1 to 30.
00000020 Hex (32) This axis is used as a virtual axis.
Other than the above Reserved

Do not set.

71

System Parameters Section 4-2

Explanation
Sets the types of devices connected as MECHATROLINK-II slaves.

Note For details of differences between axes allocated as I/O and servo axes, see

6-1-14 I/O Axis (page 257).

Explanation
00 to 03 bit: Specifies the No. of points (words) for input signals of MECHA­TROLINK-II slave nodes allocated to input variables of MC Unit.

Note With only 1 axis, words for the No. of words specified in the input variable

IW0010 are allocated and they link with the inputs of MECHATROLINK-II
slave nodes.

Explanation
00 to 03 bit: Specifies the No. of points (words) for output signals of MECHA­TROLINK-II slave nodes allocated to output variables of MC Unit.

Note With only 1 axis, words for the No. of words specified in the output variable

OW0010 are allocated and they link with the outputs of MECHATROLINK-II
slave nodes.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA02 5341h +

(AA * 14h)

MECHATROLINK-II device classi­fication

Data --- No

Data configuration Setting range

00000000, 00000064 Hex
(0, 100)

Initial value
00000000 (0)

31 00

Classification

Setting Explanation

00000000 Hex (0) W-series Driver is used with NS115 as the option.
00000064 Hex (100) I/O, counter, and pulse output modules are used as an I/O

axis.
Other than the above Reserved

Do not set.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA03 5342h +

(AA * 14h)

Input allocation points (No. of
words)

Data 16 points (word) No

Data configuration Setting range

00000000 to 0000000F Hex
(0 to 15)

Initial value
00000000 (0)

31 00

Input allocation points

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA04 5343h +

(AA * 14h)

Output allocation points (No. of
words)

Data 16 points (word) No

Data configuration Setting range

00000000 to 0000000F Hex
(0 to 15)

Initial value
00000000 (0)

31 00

Output allocation points

72

System Parameters Section 4-2

Explanation

• When using MECHATROLINK-II counter module or pulse output module
as a physical axis, the present position of these counters can be output to
the present position of the applicable physical axis.Some modules have 2
counters, however, only 1 counter can be specified.

• Sets the address of the "Counter present position" to be output to the
present position.

• The "Counter present position" is stored in the input variable area allo­cated in "Input allocation points".

Explanation
Sets the No. of allowable times of communications errors on MECHA­TROLINK-II device.
The setting of this parameter is valid only for "I/O" (specified in "P1AA02:
MECHATROLINK-II device classification").
When the allowable times set here are exceeded, [300Bh: Communications
alarm] will occur.

Explanation
Reserved

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA05 5344h +

(AA * 14h)

Axis allocation first address Data --- No

Data configuration Initial value

00000000 (0)

31 16 15 00

Variable type Address

Bit Explanation

00 to 15 Specifies the first address.

0000 to 0FFF Hex (0 to 4095)

16 to 31 Specifies whether the present position is imported or not.

0000 Hex (0): Counter's present positions are not imported into
the physical axes.
0001 Hex (1): Counter's present positions are imported.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA06 5345h +

(AA * 14h)

MECHATROLINK-II communica­tions error detection

Data --- No

Data configuration Setting range

00000000 to 00000005 Hex
(0 to 5)

Initial value
00000000 (0)

31 00

Communications error detection

No. Address in MC

Unit

Name Type Unit Immediate

updating

P1AA07 5346h +

(AA * 14h)

Reserved Data --- No

Data configuration Initial value

00000000 (0)

31 00

Reserved

73

System Parameters Section 4-2

Axis-Speed Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

Explanation

• Sets the maximum speed on machine's side for when operating with com­mands, such as MOVE, MOVEL commands, etc., that include interpola­tion.
The maximum rapid feed rate can be set using the following calculation
formula:

P2AA01 [command unit/min]= P5AA04 [command unit/1 machine rotation]

× Max. No. of motor rotations [rotation/min] × P5AA06 [machine rotation

speed]/P5AA05 [motor rotation speed]
The maximum speed is limited by (32767 command unit/unit scan).

P2AA01 [command unit/min]

≤ 1966020000/Ts [ms]

Ts[s]: Unit scan time
This indicates the unit cycle time of MC Unit determined by the numbers of
tasks, axes, parallel branches, and refreshed words.

1966020000:
The upper limit of speed resolution is 32767 [command unit/unit scan]. The
value 1966020000 is obtained by converting 32767 [command unit/unit
scan] to the unit of minutes (32767

× 60 × 1000).

Note The setting of this parameter limits the speed changed by override, the speed

specified by Operand V of MOVEI command, the speed changed by override
in MOVET command.

Explanation
Sets the maximum speed on machine's side when operating with JOG, STEP
operations, and DATUM command.
The max speed is limited by (32767 command unit/unit scan).

Note The setting of this parameter limits the speed changed by override.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA01 55C0h +

(AA * 14h)

Max. rapid feed rate Data Command unit/

min

Ye s

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Max. rapid feed rate

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA02 55C1h +

(AA * 14h)

Max. manual feed rate Data Command unit/

min

Ye s

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Max. manual feed rate

74

System Parameters Section 4-2

Explanation
Sets the speed (a value with override 100%) on machine's side for when oper­ating with MOVE, MOVEI commands.
The max speed is limited by (32767 command unit/unit scan).

Note Speed can be changed during operation using override.

Explanation
Sets the speed (a value with override 100%) on machine's side for when per­forming JOG and STEP operations.
The max speed is limited by (32767 command unit/unit scan).

Note Speed can be changed during operation using override.

Explanation
Sets the time required to accelerate from zero to max. rapid feed rate.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.

Explanation
Sets the time required to decelerate from max. rapid feed rate to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA03 55C2h +

(AA * 14h)

Rapid feed rate Data Command unit/

min

Ye s

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Rapid feed rate

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA04 55C3h +

(AA * 14h)

Manual feed rate Data Command unit/

min

Ye s

Data configuration Setting range

00000001 to 7FFFFFFF Hex
(1 to 2147483647)

Initial value
00002710 (10000)

31 00

Manual feed rate

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA05 55C4h +

(AA * 14h)

Rapid feed acceleration time Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Acceleration time

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA06 55C5h +

(AA * 14h)

Rapid feed deceleration time Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Deceleration time

75

System Parameters Section 4-2

(2) This parameter cannot be changed during operation.

Explanation
Sets the time required to accelerate from zero to max. manual feed rate.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.
(3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation
Sets the time required to decelerate from max. manual feed rate to zero.

Note (1) Enabling S-curve filter causes the delay for the S-curve time constant.

(2) This parameter cannot be changed during operation.
(3) For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation
Selects the S-curve filter enable/disable at rapid feed rate.

0: Disabled
1: Enabled

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA07 55C6h +

(AA * 14h)

Manual feed acceleration time Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Acceleration time

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA08 55C7h +

(AA * 14h)

Manual feed deceleration time Data ms Yes

Data configuration Setting range

00000000 to 0000EA60 Hex
(0 to 60000)

Initial value
00000064 (100)

31 00

Deceleration time

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA09 55C8h +

(AA * 14h)

Rapid feed S-curve filter enabled Data --- No

Data configuration Setting range

00000000 to 00000001 Hex
(0 to 1)

Initial value
00000000 (0)

31 00

S-curve filter enabled

76

System Parameters Section 4-2

Explanation
Selects the S-curve filter enable/disable at manual feed rate.

0: Disabled
1: Enabled

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation
Sets the S-curve filter time constant at rapid feed rate.

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Explanation
Sets the S-curve filter time constant at manual feed rate.

Note For details of Accel/decel patterns, see 6-1-5 Axis Movement Operation

(page 228).

Axis-Position Parameters

Note Abbreviation in the No. column: AA=1-32 (axis number)

Abbreviation in the address column: AA=0-31 (axis number

−1)

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA10 55C9h +

(AA * 14h)

Manual feed S-curve filter enabled Data --- Yes

Data configuration Setting range

00000000 to 00000001 Hex
(0 to 1)

Initial value
00000000 (0)

31 00

S-curve filter enabled

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA11 55CAh +

(AA * 14h)

Rapid feed S-curve time constant Data ms Yes

Data configuration Setting range

00000000 to 00007530 Hex
(0 to 30000)

Initial value
00000064 (100)

31 00

S-curve time constant

No. Address in MC

Unit

Name Type Unit Immediate

updating

P2AA12 55CBh +

(AA * 14h)

Manual feed S-curve time constant Data ms Yes

Data configuration Setting range

00000000 to 00007530 Hex
(0 to 30000)

Initial value
00000064 (100)

31 00

S-curve time constant

No. Address in MC

Unit

Name Type Unit Immediate

updating

P3AA01 5840h +

(AA * 14h)

STEP operation travel distance Data Command unit Yes

Data configuration Setting range

00000000 to 7FFFFFFF Hex
(0 to 2147483647)

Initial value
000003E8 (1000)

31 00

Travel distance

77

System Parameters Section 4-2

Explanation
Sets the travel distance for STEP operation.

Explanation
Sets the software limit value in the positive direction.
An error will occur when the command value created in every unit scan
exceeds this software limit.
The value has to satisfy the following conditions:
P3AA02 [command unit] = + direction upper limit/minimum setting unit
P3AA03 [command unit] =

− direction upper limit/minimum setting unit

P3AA03 < P3AA02
Ex) When positioning X-axis (ball screw) in 0.01mm unit (P5AA01, P5AA2)

within

−100 to 100mm, the following values are to be set:

P3AA02 = 100mm/0.01mm = 10000 [command unit]
P3AA03 =

−100mm/0.01mm = −10000 [command unit]

Note The setting of this parameter is ignored in the following cases:

• When Software limit enabled/disabled (P3AA04) is set to either "0" or "2".

• When an origin has not been defined.

• When Axis feed mode (P5AA07) is set to 0010h (unlimited length).

Explanation
Sets the software limit value in the negative direction.
An error will occur when the command value created in every unit scan is
smaller than this software limit.
(See the setting example of P3AA02: + direction software limit on page 77.)

Note The setting of this parameter is ignored in the following cases:

• When Software limit enabled/disabled (P3AA04) is set to either "0" or "2".

• When an origin has not been defined.

• When Axis feed mode (P5AA07) is set to 0010h (unlimited length).

No. Address in MC

Unit

Name Type Unit Immediate

updating

P3AA02 5841h +

(AA * 14h)

Positive direction software limit Data Command unit No

Data configuration Setting range

80000000 to 7FFFFFFF Hex
(−2147483648 to 2147483647)

Initial value
7FFFFFFF

(2147483647)

31 00

+ direction software limit

No. Address in MC

Unit

Name Type Unit Immediate

updating

P3AA03 5842h +

(AA * 14h)

Negative direction software limit Data Command unit No

Data configuration Setting range

80000000 to 7FFFFFFF Hex
(−2147483648 to 2147483647)

Initial value
80000000

(−2147483648)

31 00

− direction software limit