Omron CS1W-NC471, CJ1W-NCF71-MA, CS1W-NCF71 Operation Manual

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Cat. No.W426-E1-09

Cat. No. Z264-E2-04-X Smart Sensor ZFX-C USER´S MANUAL

SYSMAC CJ1W-NC271/NC471/ NCF71/NCF71-MA CS1W-NC271/NC471/NCF71

Position Control Units

OPERATION MANUAL

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CJ1W-NC271/NC471/NCF71/NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units

Operation Manual

Revised October 2008

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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. Additionally, there may be severe property damage.

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

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

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

moderate injury, or property damage.

OMRON Product References

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

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

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

Visual Aids

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

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, 2004

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

OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

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TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv

5 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

SECTION 1

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

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

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-5 List of Functions by Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SECTION 3

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

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

3-2 Installing the Position Control Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

SECTION 4

Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

4-2 Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

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TABLE OF CONTENTS

SECTION 5

Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . 201

5-1 Transferring Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

SECTION 6

MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

6-1 MECHATROLINK Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

6-4 Standard Settings for Servo Drives Using MECHATROLINK. . . . . . . . . . . . . . . . . . . . . . . 247

SECTION 7

Position Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

7-2 Control Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

7-3 Coordinate System and Present Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

SECTION 8

Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

8-3 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

8-4 Origin Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

8-6 Absolute Encoder Origin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305

SECTION 9

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .318

9-2 Direct Operation Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319

9-3 PCU Data Settings for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

9-5 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

9-6 Torque Limit Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

9-7 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

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TABLE OF CONTENTS

SECTION 10

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

10-2 Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

10-4 Torque Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364

10-6 Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

10-7 Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

10-8 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

10-9 Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

10-10 DEVIATION COUNTER RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

SECTION 11

Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

11-2 Basic Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .399

11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

SECTION 12

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456

12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .460

12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

12-5 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477

12-6 Error Reset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

12-7 CPU Unit Error Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484

SECTION 13

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 485

13-1 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

13-3 Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

13-4 Procedure for Replacing a PCU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

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TABLE OF CONTENTS

Appendices

A Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

B List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

C Operation Area I/O Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559

D List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

E Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433 579

F Additional Functions for the CJ1W-NCF71-MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

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About this Manual:

This manual describes the installation and operation of the CJ1W-NC271/NC471/NCF71/NCF71-MA and CS1W-NC271/NC471/NCF71 Position Control Units and includes the sections described below.

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

Precautions provide general precautions for using the Position Control Unit, Programmable Controller, and related devices.

Section 1 introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

Section 2 provides an overview of the procedures required to use the Position Control Unit.

Section 3 provides information on nomenclature and functions, and describes the procedures required

for wiring and installation. Information on the MECHATROLINK-II Application Module is also provided.

Section 4 provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocations.

Section 5 explains how to transfer and save parameters and data using the data transfer bits.

Section 6 provides an overview of MECHATROLINK communications, and includes information on

settings and procedures required to use MECHATROLINK with the Position Control Unit.

Section 7 provides an overview of the control system used by the Position Control Unit, including information on the control units, coordinate system, acceleration/deceleration operations, and limit input operations.

Section 8 provides information on the various operations used to determine the origin, including origin searches, origin returns, presetting the present position, calculating phase Z margins, and using the absolute encoder.

Section 9 provides an overview of direct operation and describes the parameter settings, data settings, and procedures required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.

Section 10 describes the servo lock/unlock, jogging, override, torque limits, speed control, torque control, backlash compensation, software limits, and stop functions.

Section 11 provides basic program examples and application examples for using the Position Control Unit.

Section 12 provides information on troubleshooting errors that may occur, including details on the meaning of indicator displays and error codes, and the procedures required to reset errors in the Unit or axes.

Section 13 describes methods for inspecting and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit.

The Appendices provide information on the performance characteristics, lists of parameters, I/O allocations in the operation areas, lists of error codes, alarm/warning displays, and information required when changing to the CJ1W-NC271/NC471/NCF71/NCF71-MA or CS1W-NC271/NC471/NCF71 from a CJ1W/CS1W-NC113/133/213/233/413/433 Position Control Unit.

!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.

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Unit Versions of Position Control Units

Unit Versions A “unit version” has been introduced to manage Position Control Units accord-

ing 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 products for which unit versions are being managed, as shown below.

The unit version of Position Control Units starts with unit version 1.0.

Confirming Unit Versions with Support Software

CX-Programmer version 4.0 can be used to confirm the unit version using the Unit Manufacturing Information.

In the IO Table Window, right-click the Position Control Unit and select Unit

Manufacturing information.

The following Unit Manufacturing information Dialog Box will be displayed.

The unit version is displayed as 1.0 in the Unit Version Number field of the above example. Use the above display to confirm the unit version of the Unit connected online.

Using Unit Version Label A unit version label is provided with the Position Control Unit. This label can

be attached to the front of the Position Control Unit to differentiate between Position Control Units with different unit versions.

CJ1W-NCF71

NC UNIT

Lot No. 040401 0000 Ver.1.0

OMRON Corporation MADE IN JAPAN

CJ1W-NCF71

F71

No.

Unit version Example for unit version 1.0

Product nameplate

Unit version

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Functions Supported According to Position Control Unit Versions

Model CJ1W-NC@71/CS1W-NC@71

Unit Ver. 1 .0 Unit Ver. 1.1 Unit Ver. 1.2 Unit Ver. 1.3 Unit Ver. 2. 0 Unit Ver. 2.1

Linear interpolation --- Supported. Supported. Supported. Supported. Supported. Absolute encoder setup function --- --- Supported. Supported. Supported. Supported. Deviation counter reset --- --- --- Supported. Supported. Supported. Establishing connections even

when there are unconnected axes or axes with alarms that cannot be cleared

--- --- --- Supported. Supported. Supported.

Transferring servo parameters even when there is an axis error

--- --- --- Supported. Supported. Supported.

Creating servo locks during software limit detection when an absolute encoder is used

--- --- --- Supported. Supported. Supported.

Driver main circuit OFF error detection only when the servo is locked

--- --- --- Supported. Supported. Supported.

Using Holding Area address H512 and onwards for function block address allocations

--- --- --- Supported. Supported. Supported.

Addition of supported models: SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2)

--- --- --- --- Supported. Supported.

Addition of rejoin function --- --- --- --- Supported. Supported. Eliminating connection restric-

tion when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

--- --- --- --- Supported. Supported.

Addition of origin search operation modes

--- --- --- --- Supported. Supported.

Addition of origin search preset function

--- --- --- --- Supported. Supported.

Faster setting for transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search

--- --- --- --- --- Supported.

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Upgrades Made According to Unit Versions of the Position Control Unit

Unit Version 1.0 to Unit Version 1.1

Unit Version 1.1 to Unit Version 1.2

Unit Version 1.2 to Unit Version 1.3

Functional upgrade Unit version 1.0 Unit version 1.1

Addition of linear interpolation function

Linear interpolation cannot be used.

Linear interpolation can be performed for positioning operations combining one or more axes.

Linear interpolation can performed for up to four axes each of axes 1 to 4 and axes 5 to 8 for Servo Drive axes connected to the Position Control Unit. (Refer to 9-7 Linear Inter- polation.)

Functional upgrade Unit version 1.1 Unit version 1.2

Addition of setup function for absolute encoders

An absolute encoder must be set up the first time it is used, when the rotation data is initialized to 0, or when the absolute encoder is left for a long period of time without the battery connected.

With Position Control Units with unit version 1.1 or earlier, the following operation is used to set up the absolute encoder.

• Special software (personal computer monitoring software) must be connected to the Servo Drive to perform the setup operation.

With Position Control Units with unit version

1.2 or later, the following operation can be used to set up the absolute encoder.

• Special software (personal computer monitoring software) can be connected to the Servo Drive to perform the setup operation.

• When the Position Control Unit is used with a CPU Unit with unit version 3.0 or later, the absolute encoder can be set up from the program by using a function block from the OMRON FB Library.

• The absolute encoder can be set up from the CX-Motion-NCF. (Refer to 8-6-4 Absolute Encoder Setup.)

Functional upgrade Unit version 1.2 Unit version 1.3

Addition of deviation counter reset function

The deviation counter in the Servo Drive cannot be reset from the Position Control Unit during position control operations.

The deviation counter in the Servo Drive can be reset from the Position Control Unit during position control operations.

To deviation reset function in the Position Control Unit works by sending a movement command in the opposite direction and of the same size as the current position deviation so that the current command position equals the current feedback position.

(Refer to 10-10 DEVIATION COUNTER RESET.)

Page 14

Establishing connections when there are unconnected axes or axes with alarms that cannot be cleared

If any of the axes registered in the scan list are not connected, have the control power supply interrupted, or have an alarm that can be reset only by cycling the power supply, an MLK initialization error (Unit error code 0020 (hex) will occur after the connections are established and operations using MECHATROLINK communications will not be possible any axes, including those without errors.

To start MECHATROLINK communications normally, all errors must be cleared for all axes registered in the scan list before connections can be established.

Axis operations using MECHATROLINK communications are possible for any axes registered in the scan list and for which MECHATROLINK communications have been started (see note) regardless of whether there are Servo Drive alarms.

If there are any axes with alarms, they will be indicated by the Error Flags and error code in the Axis Operating Input Memory Areas.

If there are alarms in the Servo Drive that can be cleared only by recycling the power, they will be detected as Unit errors (MLK initialization errors) for Units with unit version 1.1 or earlier, but they will be detected in the individual axis areas.

Note If R88D-WN@-ML2 W-series Servo

Drives (Models with Built-in MECHATROLINK-II Communications) are connected, an encoder communications error (A.C9@) will occur in the Servo Drive and it will not be possible to start MECHATROLINK communications for Units with unit version 1.3 or earlier.

(Refer to 6-3-2 MECHATROLINK Communi- cations Status.)

Transferring parameters when there are axis errors

Servo parameters cannot be transferred (i.e., written, read, or saved) for axes with errors. The errors must first be reset to clear the axis error status before Servo parameters can be transferred.

Servo parameters can be transferred (i.e., written, read, or saved) for axes with errors. If the axis error already exists, it will not be overwritten even if an error occurs during parameter transfer.

If Servo parameters are written when there is an axis error, be sure to confirm that the parameters were transferred correctly.

(Refer to 5-3 Transferring Servo Parameters.) Locking the servo when a software limit is being detected for a Motor with an absolute encoder

If an attempt is made to lock the Servo when an absolute encoder is used, the software limits are enabled, and the present position is within the software limit area, a software limit error will occur and the Servo lock operation will be canceled.

To lock the Servo in the above situation, the software limit must first be disabled.

The Servo can be locked at any position,

regardless of the type of encoder and the

software limit settings.

(Refer to 10-8-4 Software Limit Operation.)

Functional upgrade Unit version 1.2 Unit version 1.3

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xvi

Unit Version 1.3 to Unit Version 2.0

Detecting driver main circuit OFF errors only when the Servo is locked

Servo Drive main circuit OFF errors are detected regardless of whether the Servo is locked for the axis. Once a Servo Drive main circuit OFF error is detected, it will continue to be detected even if the error is reset until the main circuit power supply is restored.

Servo Drive main circuit OFF errors are detected only when the Servo is locked for the axis.

The Position Control Unit will automatically unlock the Servo when a Servo Drive main circuit OFF error is detected, allowing the error to be cleared even while the main circuit power supply is interrupted.

If an attempt is made to lock the Servo while the main circuit power supply is interrupted, a Servo Drive main circuit OFF error will be detected again.

(Refer to 12-4-2 List of Error Codes.) Allocating holding addresses H512 and higher as function block addresses

The function blocks in the OMRON FB Library for the Position Control Unit cannot be used if H512 (default setting) or higher are allocated for non-holding areas of function block addresses.

If H512 or higher are allocated, a function block error will occur when the function block is executed.

The CX-Programmer must be used to change the setting to other unused words (e.g., in the DM or EM Area).

The function blocks in the OMRON FB

Library for the Position Control Unit can be

used if H512 (default setting) or higher are

allocated for non-holding areas of function

block addresses.

Functional upgrade Unit version 1.3 Unit version 2.0

Addition of applicable models

Applicable Models

•R88D-WT@W-series Servo Drives (with

JUSP-NS115 MECHATROLINK-II Application Module mounted)

•R88D-WN@-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II Communications)

Applicable Models

•R88D-WT@W-series Servo Drives (with

JUSP-NS115 MECHATROLINK-II Application Module mounted)

•R88D-WN@-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II Communications)

•R7D-ZN@-ML2 SMARTSTEP Junior Servo

Drive (Models with Built-in MECHATROLINK-II Communications)

Functional upgrade Unit version 1.2 Unit version 1.3

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xvii

Addition of rejoin function MECHATROLINK communications are

started and stopped at the same time for all axes registered in the scan list.

The following functions are supported in addition to starting and stopping MECHATROLINK communications for all axes at the same time.

• Rejoin Function An axis for which communications have been stopped, e.g., due to a communications error, can be restarted without stopping communications for the other axes. (Refer to 6-3-4 Rejoining the Connection.)

• Setting the Axes to Be Connected Axes registered in the scan list can be set temporarily so that they are not registered. The axes can be set so that they are temporarily not used without resetting the scan list. Operations can be performed without errors occurring for these axes. (Refer to 6-3-5 Specifying the Axes to Con- nect.)

The Axis Communications Status Flags have also been changed for the above functions. Refer to the note following this table for

details. Eliminating connection restriction when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

If an encoder communications error (A.C90) occurs for a R88D-WN@-ML2 Wseries Servo Drive (Model with Built-in MECHATROLINK-II Communications), MECHATROLINK communications cannot be started with that Servo Drive.

MECHATROLINK communications can be

started under the conditions given at the left,

and operations, such as transferring Servo

Parameters, can be performed.

Addition of origin search operation modes

Three origin search operation pattern are possible by combining the following settings:

• Origin search operations: 3 settings (Reversal modes 1 and 2, and Singledirection mode)

• Origin detection method: 1 setting (With origin proximity input signal reversal)

Eleven origin search operation pattern are possible by combining the following settings:

• Origin search operations: 4 settings (Reversal modes 1, 2, and 3, and Singledirection mode)

• Origin detection methods: 3 settings (With origin proximity input signal reversal, Without origin proximity input signal reversal, Not use origin proximity input signal)

(Refer to 8-2-4 Origin Search Operation.)

Functional upgrade Unit version 1.3 Unit version 2.0

Combinations supported by unit version 1.3 or earlie

Combinations supported by unit version 2.0 or later

Origin search operation

Origin

detection

method

Reversal

mode 1

Reversal

mode 2

Single-

direction

mode

Reversal

mode 3

(See note.)

Note: Origin search operation patterns supported by

absolute encoders.

With origin proximity input signal reversal

Without origin proximity input signal reversal

Not use origin proximity input signal

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Note Changes in Axis Communications Status Flags

The conditions for setting and resetting the Axis Communications Status Flags in word n+22 of the Common Operating Memory Area have been changed accompanying the addition of the rejoin function. New conditions are underlined in the following table.

With unit version 1.3 or earlier, once MECHATROLINK communications have been started by establishing connections, the Axis Communications Status Flags will not change unless communications are disconnected (including Unit errors that required disconnection).

With unit version 2.0 or later, the Axis Communications Status Flags will turn OFF after connections have been established whenever axis operation becomes impossible due to a communications error (synchronous communications alarm or communications alarm).

Unit Version 2.0 to Unit Version 2.1

Addition of origin search preset function

The preset function cannot be used during origin searches.

The preset function can be used during origin searches.

For any of the origin search operations the present position can be automatically set to any specified value at the end of the origin search. When using reversal mode 1 and an absolute encoder, an offset can also be set for the absolute origin.

(Refer to 8-2-6 Origin Search Preset and 8-6- 2 Absolute Encoder Operating Procedure.)

Functional upgrade Unit version 1.3 or earlier Unit version 2.0 or later

Setting conditions • The flags will turn ON when connections

are made for the axes registered in the scan list and MECHATROLINK communications start.

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHATROLINK communications start.

• The flag will turn ON when the rejoin function is used to start MECHATROLINK communications for an axis registered in the scan list.

Resetting conditions • The flags will remain OFF when MECHA-

TROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will remain OFF when MECHATROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will turn OFF whenever a communications error occurs after MECHATROLINK communications have been started for the axis.

Functional upgrade Unit version 2.0 Unit version 2.1

Faster setting of transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search

A longer communications cycle must be set using the settings given in a separate table when the absolute encoder PG zero point position offset is set with an origin search.

The same communications cycle can be set regardless of whether the absolute encoder PG zero point position offset is set with an origin search.

Functional upgrade Unit version 1.3 Unit version 2.0

Page 18

xix

Read and Understand this Manual

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

Warranty and Limitations of Liability

WARRANTY

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

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

LIMITATIONS OF LIABILITY

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

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

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

Page 19

Application Considerations

SUITABILITY FOR USE

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

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

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

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

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

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

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

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

PROGRAMMABLE PRODUCTS

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

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xxi

Disclaimers

CHANGE IN SPECIFICATIONS

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

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

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

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

ERRORS AND OMISSIONS

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

Page 21

xxii

Page 22

xxiii

PRECAUTIONS

This section provides general precautions for using the Position Control Unit and related devices.

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

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

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

6-4 Installation within Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

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xxiv

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 Position Control Units and related devices be

used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Position Control Units and related devices to the above-mentioned applications.

3 Safety Precautions

!WARNING Do not attempt to take any Unit apart while the power is being supplied. Doing

so may result in electric shock.

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do

so may result in malfunction, fire, or electric shock.

!WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electric shock.

!WARNING Provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC, malfunction of the PCU (Position Control Unit), or external factors affecting the operation of the PLC or PCU. Not providing sufficient safety measures may result in serious accidents.

Page 24

xxv

Operating Environment Precautions 4

• 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 PCU 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-V DC output (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop and 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.

• External safety measures must also be taken to ensure safety in the event of unexpected operation when connecting or disconnecting the PCU’s connectors.

!Caution Execute online editing only after confirming that no adverse effects will be

caused by extending the cycle time. Otherwise, the input signals may not be readable.

!Caution Confirm safety at the destination node before transferring a program to

another node or changing contents of the I/O memory area. Doing either of these without confirming safety may result in injury.

4 Operating Environment Precautions

!Caution Do not operate the control system in the following locations:

• 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.

!Caution Take appropriate and sufficient countermeasures when installing systems in

the following locations:

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

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

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xxvi

Application Precautions 5

!Caution The operating environment of the PLC System can have a large effect on the

longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

5 Application Precautions

Observe the following precautions when using the PLC System.

!WARNING Always heed these precautions. Failure to abide by the following precautions

could lead to serious or possibly fatal injury.

• Always connect to a ground of 100

Ω or less when installing the Units. Not

connecting to a ground of 100

Ω or less may result in electric shock.

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

• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, Inner Boards, or any other Units.

• Assembling the Units.

• Setting DIP switches or rotary switches.

• Connecting cables or wiring the system.

• Connecting or disconnecting the connectors.

!Caution Failure to abide by the following precautions could lead to faulty operation of

the PLC, the PCU, or the system, or could damage the PLC or PCU. Always heed these precautions.

• Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may cause malfunction resulting in serious injury.

• Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the customer.

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

• For CS-series PLCs, always tighten the mounting screw at the bottom of the PCU to a torque of 0.4 N

⋅m.

• For CJ-series PLCs, lock the sliders securely until they click into place when connecting the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, or CPU Bus Units. Functions may not work correctly if the sliders are not locked properly.

• Always attach the End Cover provided with the CPU Unit to the Unit on the right end of the PLC. The CJ-series PLC will not operate properly if the End Cover is not attached.

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xxvii

Application Precautions 5

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

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

• Disconnect the LG (line ground) terminal and GR (ground) terminal before performing withstand voltage and insulation resistance tests.

• Confirm that set parameters and data operate properly.

• Perform wiring according to specified procedures.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may result in burning.

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

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC (including setting the Startup Mode).

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

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

• After replacing Units, resume operation only after transferring to the new CPU Unit, Special I/O Units, CPU Bus Units, and externally connected devices the contents of the DM Area, Holding Area, and other data required for resuming operation. Not doing so may result in an unexpected operation.

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

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

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunction or damage.

• Never turn OFF the power to the Unit while transferring data.

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xxviii

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 so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2 EMI (Electromagnetic Interference): EN61000-6-4

(Radiated emission: 10-m regulations)

6-3 Conformance to EC Directives

The PCUs comply with EC Directives. To ensure that the machine or device in which a PCU is used complies with EC Directives, the PCU must be installed as follows:

1,2,3... 1. The PCU is defined as a in-panel device and must be installed within a

control panel.

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

3. PCUs complying with EC directives also meet the common emission standard (EN61000-6-4). The measures required to ensure that the standard is met will vary with the overall configuration of the control panel, the other devices connected to the control panel, wiring, and other conditions. The customer must therefore confirm that EC directives are met for the overall machine or device, particularly for the radiated emission requirement (10 m).

6-4 Installation within Control Panels

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.)

Page 28

SECTION 1

Features and System Configuration

This section introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

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

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3-1 Position Control (Direct Operation) . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3-2 Speed Control and Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3-3 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-4 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4-2 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . 6

1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Page 29

Fe at ur e s Section 1-1

1-1 Features

The Position Control Unit is a CS/CJ-series CPU Bus Unit. The Position Control Unit (PCU) receives commands from the CPU Unit's internal Auxiliary Area and outputs positioning commands to MECHATROLINK-II Servo Drives.

MECHATROLINK is a registered trademark of MECHATROLINK Members Association.

Compatible with the MECHATROLINK-II Highspeed Field Network

A MECHATROLINK-II high-speed (10 Mbps) communications interface is used to control Servo Drives for up to 16 axes with a single CS/CJ-series Unit. Shielded twisted-pair cables in daisy-chain formation make wiring simple and enable multi-axis systems that require less wiring and are smaller in size.

High-speed, Highprecision Control Using Data Communications

Optimal motor performance can be achieved by transmitting data using communications between the Programmable Controller (PLC) and Servo Drives, without having to set an upper limit for the designated speed. High-speed and high-precision position control using high-resolution motors are possible.

Position Control (Direct Operation)

Positioning can be performed simply by directly setting the target position and target speed from the CPU Unit. Positioning to either absolute or relative positions is also possible. Interrupt feeding is also supported. With interrupt feeding, positioning is continued for a specified amount after an interrupt input signal is received, and then the axis is stopped.

Speed Control and Torque Control

The Servo Drive's speed and torque can be controlled by directly specifying the target speed and torque from the CPU Unit.

Compatible with Servomotors with Absolute Encoders

The PCU is compatible with Servomotors that have absolute encoders. Using such Servomotors eliminates the need to repeatedly perform origin searches.

Transfer Data between Host PLC and Servo Drive

The Servo Drive's parameters and monitors can be set from the CPU Unit. All the data for the multi-axis system can be centrally controlled from the host PLC. This removes the difficulty in starting up devices or setting data when replacing a Unit.

CJ1W-NC271/471/F71 CS1W-NC271/471/F71

F71

No.

Position Control Unit

RUN ERC

ERH ERM MLK

NCF71

UNIT No.

Page 30

System Configuration Section 1-2

1-2 System Configuration

The PCU receives commands from the CPU Unit's ladder program and control signal status (forward/reverse rotation limit, origin, origin proximity, and interrupt input signals) from devices connected externally to the Servo Drive, and uses them to control Servo Drive positioning.

System Configuration Example

Power Supply Unit

CJ-series CPU Unit

CJ1W-NCF71 Position Control Unit

Servo Drive

Servomotor

Servo Drive

Servomotor

Servo Drive

MECHATROLINK-II (16 axes max.)

External inputs

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal

Origin proximity input signal

Interrupt input signal

Etc.

24-V DC power supply for interface

Forward rotation limit input signal

Reverse rotation limit input signal

Origin input signal

Origin proximity input signal

Interrupt input signal

24-V DC power supply for interface

Etc.

Page 31

Basic Operations Section 1-3

1-3 Basic Operations

The PCU's operations are as follows:

1-3-1 Position Control (Direct Operation)

Positioning can be executed either to an absolute position (i.e., to an absolute position from the origin) or to an incremental position (i.e., to a position relative to the present position). Interrupt feeding is also possible, whereby an axis is moved a specified amount when an interrupt input signal is received and then stopped.

Absolute Movements and Relative Movements

With absolute and relative movements, position and speed data are set directly from the ladder program in the CPU Unit. Positioning is executed according to operating commands sent to the PCU from the CPU Unit. It is also possible to change the speed or to send commands to move axes to different positions while positioning is being performed.

Origin searches

CJ1W-NC@71/CS1W-NC@71 Position Control Unit functions

Position control (direct operation)

Speed control

Torque control

Other operations

Absolute movement

Relative movement

Interrupt feeding

Jogging

Overrides

Present position preset

Stop functions

Backlash compensation

Time

Speed

Start

Position changed, start

New target position

Speed changed

Target position before position changed

Page 32

Basic Operations Section 1-3

Interrupt Feeding When an interrupt input signal is received, positioning is continued for the

specified amount of movement and then stopped.

Linear Interpolation Linear interpolation can be performed for a combination of axes (Unit Ver. 1.1

or later).

1-3-2 Speed Control and Torque Control

Speed command data and torque command data are set from the CPU Unit. Speed control and torque control of the Servomotor are executed by sending operating commands to the PCU from the CPU Unit.

1-3-3 Other Operations

Origin Searches The origin search operations find the origin for a designated axis.

Jogging Jogging moves a specified axis at a designated speed and then stops it.

Overrides When an override is enabled during positioning, the target speed is changed

to the override speed.

Present Position Preset (Changing the Present Position)

The PRESENT POSITION PRESET command changes the present position to a specified position.

Stop Functions The DECELERATION STOP command decelerates positioning to a stop.

The EMERGENCY STOP command cancels operating commands immediately and stops the axis after moving it for the number of pulses remaining in the Servo Drive's deviation counter.

Time

Speed

Interrupt input

Specified amount of movement (a negative direction can also be set)

Time

Speed

× 1.5

Override set value: 150%

Override Enable Bit

Page 33

List of Functions and Specifications Section 1-4

1-4 List of Functions and Specifications

1-4-1 General Specifications

Specifications not listed above conform to general CS/CJ Series specifications.

1-4-2 List of Functions and Specifications

Item Specification

Model CJ1W-NC271/471/F71 CS1W-NC271/471/F71 Internal current

consumption

360 mA max. at 5 V DC

Dimensions 31 × 90 × 65 mm (W × H × D) 130 × 35 × 101 mm (W × H × D) Weight 95 g max. 188 g max. Ambient operat-

ing temperature

0 to 55°C

Approved standards

CE, cULus, and C-tick

Item Specification

Unit classification CPU Bus Unit Applicable PLCs CS/CJ Series Possible unit number settings 0 to F I/O allocations Common Operating Memory Area Words allocated in CPU Bus Unit Area: 25 words (15 output words,

10 input words)

Axis Operating Memory Area Allocated in one of the following areas (user-specified):

CIO, Work, Auxiliary, Holding, DM, or EM Area. Number of words allocated: 50 words (25 output words, 25 input

words) × Highest axis No. used

Compatible devices • OMRON G-series Servo Drives

(Built-in MECHATROLINK-II communications)

• OMRON W-series Servo Drives (equipped with MECHATROLINK-II Application Module or built-in MECHATROLINK-II communications)

• OMRON SMARTSTEP Junior Servo Drives (Built-in MECHATROLINK-II communications)

Note SMARTSTEP Junior Servo Drive are supported by Position

Control Units with unit version 2.0 or later.

Control method Control commands executed using MECHATROLINK-II synchro-

nous communications.

Maximum number of controlled axes CS1W/CJ1W-NC271: 2 axes, CS1W/CJ1W-NC471: 4 axes,

CS1W/CJ1W-NCF71: 16 axes

Control units Position command unit Command unit: Depends on the Electronic Gear Setting in the

Servo Parameters.

Default setting: Pulses

Speed command unit for position control

Command units/s

Acceleration/deceleration speeds for position control

10,000 command units/s

Speed command unit for speed control

0.001% of the motor's momentary maximum rotation speed

Torque command unit for torque control

0.001% of the motor's momentary maximum torque

Page 34

List of Functions and Specifications Section 1-4

Control command range

Position command range −2,147,483,648 to 2,147,483,647 (command units) Speed command range for position

control

0 to 2,147,483,647 (command units/s)

Acceleration/deceleration speeds for position control

1 to 65,535 (10,000 command units/s

)

Speed command range for speed control

−199.999% to 199.999%

The upper limit of the speed command range depends on the specifications of the Servo Drive.

Torque command range for torque control

−199.999% to 199.999%

The upper limit of the torque command range depends on the specifications of the Servo Drive.

Control functions

Servo lock/unlock Creates (Servo lock) or releases (Servo unlock) the position loop

on the PCU.

Position control Positions to an absolute position or relative position according to

the target position and target speed specified from the ladder program.

Origin determination • Origin search: Establishes the origin using the specified search

method.

• Present position preset: Changes the present position to a specified position to establish the origin.

• Origin return: Returns the axis from any position to the established origin.

• Absolute encoder origin: Establishes the origin using a Servomotor that has an absolute encoder, without having to use an origin search.

Jogging Outputs pulses at a fixed speed in the forward rotation or reverse

rotation direction.

Interrupt feeding Performs positioning by moving the axis a fixed amount when an

external interrupt input is received while the axis is moving.

Speed control Performs speed control by sending a command to the Servo Drive

speed loop.

Torque control Performs torque control by sending a command to the Servo Drive

current loop.

Stop functions • Deceleration stop: Decelerates the moving axis to a stop.

• Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis.

Auxiliary functions

Acceleration/deceleration curves Sets one of the following: a trapezoidal (linear) curve, an exponen-

tial curve, or an S-curve (moving average). Torque limit Restricts the output torque during axis operation. Override Multiplies the axis command speed by a specified ratio.

Override: 0.01% to 327.67% Servo parameter transfer Reads and writes the Servo Drive parameters from the ladder pro-

gram in the CPU Unit. Monitoring function Monitors the control status of the Servo Drive, such as the com-

mand coordinate positions, feedback position, current speed, and

torque. Software limits Limits software operation within the positioning range during posi-

tion control. Backlash compensation Compensates for the amount of play in the mechanical system

according to a set value. Deviation counter reset The position deviation in the Servo Drive’s deviation counter can

be reset to 0 (unit version 1.3 or later).

External I/O Position Control Unit One MECHATROLINK-II interface port

Servo Drive I/O Forward/reverse rotation limit inputs, origin proximity inputs, exter-

nal interrupt inputs 1 to 3 (can be used as external origin inputs)

Item Specification

Page 35

List of Functions by Purpose Section 1-5

1-5 List of Functions by Purpose

Self-diagnostic functions Watchdog, flash memory check, memory corruption check Error detection functions Overtravel, Servo Drive alarm detection, CPU error, MECHA-

TROLINK communications error, Unit setting error

Purpose Category Name Basic function Details

Establishing the mechanical origin of the machine

Origin determination

Origin search The motor is operated to estab-

lished the origin.

8-2 Origin Search Operation

Present position preset The position where the motor is

stopped is set to a specified position to establish the origin.

8-3 Present Position Preset

Origin return The axis is returned to the estab-

lished origin.

8-4 Origin Return

Absolute encoder origin The origin is established using a

Servomotor with an absolute encoder, so origin searches are not required at machine startup.

8-6 Absolute Encoder Origin

Point-to-point (PTP) positioning

Position control

Direct operation (absolute movement or relative movement)

The position and speed are specified to perform positioning using an absolute or relative movement.

9-4 Using Direct Operation

Changing the target position and speed as required during positioning

Direct operation: Changing target position or changing target speed

The target position or target speed is changed during positioning with direct operation.

9-4-3 Changing Target Position

9-4-4 Changing Target Speed

Performing positioning for a specified distance from an external input point during positioning

Interrupt feeding When an interrupt input signal

turns ON during positioning with direct operation, operation switches to positioning for a fixed amount.

9-5 Interrupt Feeding

Performing manual feeding for adjustment or other purpose

Jogging The axis is moved at a fixed

speed in the forward rotation or reverse rotation direction.

10-2 Jogging

Reducing shock while device is operating

Auxiliary functions

Acceleration/deceleration curves

Acceleration/deceleration is performed according to the basic trapezoidal curve (linear acceleration/deceleration), an exponential curve, or an S-curve, which greatly helps to reduce mechanical vibration.

7-4 Acceleration and Deceleration Operations

Temporarily multiplying the machine's operating speed by a constant ratio to perform startup adjustments

Overrides The axis command speed is mul-

tiplied by a constant ratio.

10-3 Override

Restricting output torque during control operations such as pushing control

Torque limit A constant limit is applied to the

output torque of the Servomotor during positioning.

10-4 Torque Limits

Stopping the device during operation

Stop function

Deceleration stop or emergency stop

The moving axis is decelerated to a stop or the axis is moved for the number of pulses remaining in the deviation counter and then stopped.

10-9 Stop Functions

Changing the Servo Drive settings from the PLC

Data transfer function

Reading/writing Servo parameters

Servo Drive parameters are read or written from the CPU Unit.

5-3 Transferring Servo Parameters

Item Specification

Page 36

Comparison with Existing Models Section 1-6

1-6 Comparison with Existing Models

Performing speed feeding in rotary control such as sheet feeding.

Speed control

Speed control The speed command value is

directly specified to control the Servomotor rotation.

10-5 Speed Control

Changing the output torque sequentially during control operations such as tightening.

Torque control

Torque control The torque command value is

directly specified to control the Servomotor's output torque.

10-6 Torque Control

Functions and

performance

CJ1W-NC@71 CS1W-NC@71

CJ1W-NC@13/@33 CS1W-NC@13/@33

Unit type CPU Bus Unit Special I/O Unit Unit number alloca-

tion

Unit numbers can be set from 0 to F (CPU Bus Units).

Unit numbers can be set from 0 to 95.

• One-axis and two-axis PCUs: One unit number used.

• Four-axis PCUs: Two unit numbers used.

Control method Commands are executed using MECHA-

TROLINK-II synchronous communications.

Open-loop control is performed using a pulse train output.

Format of data exchanged between PLC and PCU

Binary (hexadecimal) Example: Present position is output to the PLC in 32-bit signed binary format.

Same as CJ1W-NC@71/CS1W-NC@71.

Position command range

−2,147,483,648 to 2,147,483,647 (Unit depends on Servo Parameters)

−1,073,741,823 to 1,073,741,823 pulses

Present position range

−2,147,483,648~2,147,483,647 (Unit depends on Servo parameters)

−2,147,483,647 to 2,147,483,647 pulses

Zone range No zone functions −1,073,741,823 to 1,073,741,823 pulses Speed command

range

Position control:

0 to 2,147,483,647 (command units/s) (Upper limit speed depends on Servo Drive and Servomotor.)

Speed control:

−199.999% to 199.999% (percentage of Servomotor’s momentary maximum rotation speed) The upper limit of the speed command range depends on the specifications of the Servo Drive.

1 to 500,000 (unit: 1 pps)

Torque command range

−199.999% to 199.999% (percentage of Servomotor's momentary maximum torque) The upper limit of the torque command range depends on the specifications of the Servo Drive.

None

Overrides 0.01% to 327.67% in increments of 0.01% 1% to 999% in increments of 1% Memory operation

function

None Absolute/relative movement, linear interpolation,

interrupt feeding, speed control, forced interrupt, and teaching

Purpose Category Name Basic function Details

Page 37

Comparison with Existing Models Section 1-6

Note The response time depends on the cycle time of the PLC and the MECHA-

TROLINK communications settings. The time shown in the table is the maximum value obtained when calculated according to specified measurement conditions. For details, refer to Appendix A Performance Characteristics.

Origin search Origin search method:

• The origin input signal is detected after the origin proximity input signal turns OFF.

• The origin input signal is detected after the origin proximity input signal turns ON. (Unit version 2.0 or later)

• The origin input signal is detected without using the origin proximity input signal. (Unit version 2.0 or later)

Origin search methods:

• The origin input signal is detected after the origin proximity input signal turns ON.

• The origin input signal is detected after the origin proximity input signal turns OFF.

• The origin input signal is detected without using the origin proximity input signal.

Origin compensation: After detecting the origin input signal, positioning is performed for the origin return final travel distance (specified in Servo Parameters).

Origin compensation: The axis is moved for the amount specified by the origin compensation data (specified from the Unit) at the proximity speed.

Acceleration/deceleration curves

Trapezoidal curve, exponential curve, or S-curve

S-curve acceleration/deceleration uses a moving average.

Trapezoidal curve or S-curve

S-curve acceleration/deceleration uses a tertiary function.

Setting acceleration/ deceleration speeds

Accelerations and decelerations are specified in units of 10,000 command units/s

. Servo param-

eters are set individually for each axis.

The times in milliseconds required to reach the maximum speed from the initial speed and to reach the initial speed from the maximum speed are specified

Direct operation: Acceleration/deceleration speeds are specified as operation data from the PLC.

Memory operation: Up to 9 acceleration/deceleration speeds per axis are recorded in the Unit.

Deviation counter reset

Supported (unit version 1.3 or later). Supported.

Emergency stop A hardware input contact is not provided on the

Position Control Unit. Stopping is possible after moving the number of

pulses remaining in the deviation counter by using an allocated operation bit.

The PCU's hardware input contact is used.

Data transfer method Writes/reads using the Data Transfer Bit. • Data can be read or written using the Data

Transfer Bit.

• Data can be read or written using the IOWR/ IORD instruction.

Saving data Parameters can be saved to the flash memory in

the PCU. Servo Parameters are saved in the Servo Drive.

Axis Parameters and Zone Data are saved in the flash memory in the PCU.

CPU Unit cycle time extension for END refresh

1 ms max. per 16 axes (using the CS1/CJ1-H CPU Unit)

0.5 ms max. per PCU

Response time 4 ms max. (time from when the start commands

for the ladder program are sent until the Servo Drive receives the control command when four axes are connected) (See note.)

4 ms max. (time from when the start commands for the ladder program are sent until the Position Control Unit performs pulse output when all axes of a four-axis Unit are being operated simultaneously)

Functions and

performance

CJ1W-NC@71 CS1W-NC@71

CJ1W-NC@13/@33 CS1W-NC@13/@33

Page 38

SECTION 2

Basic Procedures

This section provides an overview of the procedures required to use the Position Control Unit.

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2-2-1 Overview of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2-2-2 System Configuration and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2-2-3 Setting the PCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2-2-4 Starting MECHATROLINK Communications. . . . . . . . . . . . . . . . . 21

2-2-5 Setting Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2-2-6 Operating the Servomotor from the PCU . . . . . . . . . . . . . . . . . . . . . 25

Page 39

Basic Flow of Operations Section 2-1

2-1 Basic Flow of Operations

The basic flow of Position Control Unit (PCU) operation is described in this section. The steps from installation through setting the MECHATROLINK devices are required only when installing the devices for the first time. When PCU and MECHATROLINK device settings have been completed, start operation from starting MECHATROLINK communications in the flow of operation.

Note (1) Perform wiring according to instructions given in the Servomotor and Ser-

vo Drive's operation manuals.

(2) Refer to the CJ Series PLC Operation Manual.

Install the PCU.

START

(See note 1.)

Set the unit number of the PCU.

Connect the Servo Drives to the PCU.

(See note 1.)

Create the I/O tables for the PLC.

Turn ON the power to the PLC.

(See note 2.)

Flow of operation Details

Installation

Set the station addresses of the Servo Drives.

Wiring

Connect the Servomotors to the Servo Drives.

Connect the Servo Drives to the external input devices.

PLC Settings

PCU Settings

Transfer the common parameters from the CPU Unit to the PCU using the WRITE DATA Bit in the Common Operating Memory Area.

Transfer the axis parameters from the CPU Unit to the PCU using the WRITE DATA Bit in the Common Operating Memory Area.

Transfer only the axis parameters for the axes to be used.

Save the transferred common parameters and axis parameters to the PCU's flash memory using the SAVE DATA Bit in the PCU's Common Operating Memory Area.

Restart the PCU or cycle the power to the PLC.

The PCU can now communicate with MECHATROLINK devices.

(Continued on next page.)

3-2 Installing the Position Control Unit

3-1 Nomenclature and Functions

3-3 External I/O Circuits 3-4 Wiring

4-3 Common Parameter Area 4-6 Common Operating

Memory Area 5-2-1 Writing PCU

Parameters 4-4 Axis Parameter Area 5-2-1 Writing PCU

Parameters 5-2-3 Saving PCU

Parameters

Page 40

Basic Flow of Operations Section 2-1

YES

Flow of operation Details

Starting MECHATROLINK communications (setup)

(Continued from previous page.)

Turn ON the power to the Servo Drives.

Turn ON the CONNECT Bit in the PCU's Common Operating Memory Area.

Check that communications are established with the connected devices by referring to the axis communications status in the PCU's Common Operating Memory Area.

Are communications established

with all devices?

The MECHATROLINK devices can now be operated from the PCU.

Setting the MECHATROLINK devices

Transfer the Servo parameters from the CPU Unit to the PCU using the WRITE SERVO PARAMETER Bit and SAVE SERVO PARAMETER Bit in the PCU's Axis Operating Memory Areas.

Transfer (save) only the Servo Parameters for the axes to be used.

Use either of the following methods to enable the parameter settings for offline parameters.

1) Perform the device setup.

2) Turn OFF the CONNECT Bit (releases the connection) in the PCU's Common Operating Memory Area, and after Servo communications have stopped, cycle the Servo Drive power.

The Servo Parameters that have been set are now enabled.

Starting MECHATROLINK communications

Turn ON the power to the Servo Drives and external input devices.

Turn ON the CONNECT Bit in the PCU's Common Operating Memory Area.

Check that communications are established with the connected devices by referring to the axis communications status in the PCU's Common Operating Memory Area.

Communications are established

with all devices?

The MECHATROLINK devices can now be operated from the PCU.

(Continued on next page.)

4-6 Common Operating Memory Area

6-3-1 Establishing Connections

6-3-2 MECHATROLINK Communications Status

6-3-3 MECHATROLINK Communications Errors

12-5 Troubleshooting

4-5 Servo Parameter Area 4-7 Axis Operating Output

Memory Areas 4-8 Axis Operating Input

Memory Areas 5-3-1 Writing Servo

Parameters 5-3-3 Saving Servo

Parameters 6-3-1 Establishing

Connections 6-4 Standard Settings for

Servo Drives Using MECHATROLINK

5-3-4 Device Setup

4-6 Common Operating Memory Area

6-3-1 Establishing Connections

6-3-2 MECHATROLINK Communications Status

6-3-3 MECHATROLINK Communications Errors

12-5 Troubleshooting

Page 41

Basic Flow of Operations Section 2-1

Flow of operation Details

Servo lock

(Continued from previous page.)

Turn ON the SERVO LOCK Bit in the PCU's Axis Operating Memory Area.

Check that the SVON Flag indicating the Servo Drive status in the PCU's Axis Operating Memory Area is ON.

The Servomotor axis operations can now be controlled from the PCU.

Jogging

Set the jog speed in the speed command value of the PCU's Axis Operating Memory Area.

Set the acceleration and deceleration times in the Servo parameters.

Set the feed direction in the Direction Designation Bit of the PCU's Axis Operating Memory Area.

Turn ON the JOG Bit in the PCU's Axis Operating Memory Area.

Stop the jogging operation by turning OFF the JOG Bit in the PCU's Axis Operating Memory Area.

Check whether jogging has stopped by monitoring whether the Busy Flag is OFF in the PCU's Axis Operating Memory Area.

Origin determination

Set the Origin Search Speed in the speed command value of the PCU's Axis Operating Memory Area.

Set the Origin Search Approach Speeds 1 and 2 in the Servo Parameters.

Turn ON the ORIGIN SEARCH Bit in the PCU's Axis Operating Memory Area.

Check whether the ORIGIN SEARCH operation has completed by monitoring the PCU Positioning Completed Flag and No Origin Flag in the PCU's Axis Operating Memory Area.

(Continued on next page.)

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

10-1 Servo Lock/Unlock

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

7-4 Acceleration and Deceleration Operations

10-2 Jogging

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

7-4 Acceleration and Deceleration Operations

SECTION 8 Defining the Origin

Page 42

Basic Flow of Operations Section 2-1

Turn OFF the power to the CPU Unit.

END

Flow of operation Details

Positioning

(Continued from previous page.)

Set the target position in the position command value of the PCU's Axis Operating Memory Area.

Set the target speed in the speed command value of the PCU's Axis Operating Memory Area.

Set the acceleration and deceleration times for positioning in the Servo Parameters.

Turn ON the Movement Bit (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) in the PCU's Axis Operating Memory Area.

Check whether the positioning operation has completed by monitoring the PCU Positioning Completed Flag in the PCU's Axis Operating Memory Area.

Stopping operation

Start axis operation using jogging, an origin search, or direct operation.

Turn ON the Deceleration Stop Bit or Emergency Stop Bit in the PCU's Axis Operating Memory Area.

Set the deceleration time for a deceleration stop in the Servo Parameters.

Check whether the positioning operation has stopped by monitoring whether the Stop Execution Flag is ON in the PCU's Axis Operating Memory Area.

Servo Unlock

Turn ON the SERVO UNLOCK Bit in the PCU's Axis Operating Memory Area.

Check that the SVON Flag indicating the Servo Drive status in the PCU's Axis Operating Memory Area is OFF.

Finishing operation

Stop Servo communications by turning OFF the CONNECT Bit (releases connection) in the PCU's Common Operating Memory Area.

Turn OFF the power to the Servo Drives and external input devices.

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

7-4 Acceleration and Deceleration Operations

9-1 Direct Operation Overview

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

7-4 Acceleration and Deceleration Operations

10-9 Stop Functions

4-7 Axis Operating Output Memory Areas

4-8 Axis Operating Input Memory Areas

10-1 Servo Lock/Unlock

4-6 Common Operating Memory Area

6-3-1 Establishing Connections

6-3-2 MECHATROLINK Communications Status

Page 43

Starting Operation Section 2-2

2-2 Starting Operation

Examples of operating the Servomotor using RELATIVE MOVEMENT commands for direct operation are provided in this section for first-time users of a PCU.

2-2-1 Overview of Operation

The following example is for operating the Servomotor using direct operation under the following operation conditions. An OMRON W-series Servomotor and a Servo Drive with a Yaskawa JUSP-NS115 MECHATROLINK-II Application Module installed is used.

Only the minimum parameters required to operate the Servomotor are set in this example. Default settings are used for the PCU and Servo Drive parameters that are not set.

A Programming Console is used in this operation example without using a ladder program and with the PLC in PROGRAM mode to manually perform the settings and execute the start commands that are required to operate the Servomotor. The Programming Console is used to set the required data for direct operation and then turn ON the RELATIVE MOVEMENT Bit to operate the motor.

2-2-2 System Configuration and Wiring

The following system configuration is used. In this example, only the motor is operated, without using a mechanical system. The unit number of the PCU is 0, and the station address of the MECHATROLINK-II Application Module is 1.

0.1 s0.1 s

100 kpulses/s

Speed

Target speed: 100,000 (pulses/s)

Target position: 500,000 pulses

Time

Page 44

Starting Operation Section 2-2

The devices used in this configuration diagram example are as follows:

Each of the above devices is in its factory-shipped condition.

Setting the PCU Unit Number

Set the unit number using the rotary switch on the front of the PCU.

Unit number: 0

Setting the Station Address of the MECHATROLINK-II Application Module

Set the station address of the MECHATROLINK-II Application Module using the rotary switch (SW1) on the Module. Use the default settings for the DIP switch (SW2).

SW1: 1 SW2: Default settings (pin 1: ON; pin 2: ON; pin 3: OFF; pin 4: OFF)

Device Model

CPU Unit CJ1H-CPU67H Power Supply Unit CJ1W-PA202 Position Control Unit CJ1W-NCF71 Programming Console C200H-PRO27 Programming Console Connecting Cable CS1W-CN224 (2 m) Servo Drive R88D-WT01HL Servomotor R88M-W10030L Servomotor Encoder Cable R88A-CRWA003C (3 m) Servomotor Power Cable R88A-CAWA003S (3 m) MECHATROLINK-II Application Module JUSP-NS115 (Yaskawa) MECHATROLINK-II Connection Cable JEPMC-W6003-01 (Yaskawa) (1 m) MECHATROLINK-II Terminator JEPMC-W6022 (Yaskawa)

CPU Unit

Position Control Unit

Power Supply Unit

Programming Console MECHATROLINK-II Application Module

Servo Drive

Servomotor

MECHATROLINK-II Terminator

MECHATROLINK-II Connection Cable

Page 45

Starting Operation Section 2-2

Wiring Wire the Units as shown in the following diagram.

The Servo Drive's CN1 input signals depend on the input signal allocations, which are set in this operation example. Of these allocated input signals, the forward drive prohibit input (forward rotation limit input) and reverse drive prohibit input (reverse rotation limit input) are used as N.C. contacts. Therefore, connect them so that they are normally ON. The origin proximity signal and external latch inputs 1 to 3 are not used in this operation example and therefore do not need to be wired.

The above diagram shows the wiring for the PCU, Servo Drive, MECHATROLINK-II Application Module, and external control input signals at the Servo Drive. Refer to each of the CPU Unit and Servo Drive operation manuals for details on wiring the CPU Unit and Servo Drive power supply and connecting the Servo Drive and Servomotor.

2-2-3 Setting the PCU

Creating I/O Tables Turn ON the power to the PLC and create the I/O tables. Refer to the CJ

Series PLC Operation Manual for details on creating I/O tables.

Setting Common Parameters

Set the Common Parameters of the PCU. The minimum required Common Parameters that must be set are as follows:

• Axis Operating Output Memory Area designation

• Axis Operating Input Memory Area designation

• Scan list setting (information registered for axes connected to MECHATROLINK communications)

Common Parameters are transferred to the PCU using the WRITE DATA Bit in the Common Operating Memory Area. D01000 to D01011 are used for data to be transferred.

CN6A

CN6B

CN1

+24VIN

(Not used.)

DEC

POT

NOT

EXT1

EXT2

EXT3

24 V D

MLK

CJ1W-NCF71

JEPMC-W6003-01

JEPMC-W6022 Terminator

JUSP-NS115 R88D-WT01HL

Origin proximity signal

Forward rotation limit input

Reverse rotation limit input

Page 46

Starting Operation Section 2-2

Common Parameters Set in the PCU

The following settings are made in D01000 to D01011 as the Common Parameters to be set in the PCU. Refer to the following table for setting details.

The above settings enable the Servo Drive connected to MECHATROLINK to be controlled from the ladder program through the I/O words that are allocated as shown in the following diagram.

Writing Common Parameters to the PCU

The Common Parameter settings in D01000 to D01011 are written to the PCU. Make the settings for transferring data to the PCU's Common Operating Memory Area as shown below.

Data is written to the PCU by turning ON the WRITE DATA Bit in the Common Operating Memory Area. For the PCU with unit number 0, the WRITE DATA Bit is allocated in CIO 150001. Turn ON this bit using the Programming Console.

DM word Set value Common Parameter Details

D01000 00B0 hex Axis Operating Output

Memory Areas

Set the beginning word of the Axis Operating Output Memory Areas to CIO 100.

Axis 1 output words: CIO 100 to CIO 124

D01001 0064 hex Beginning word of Axis

Operating Output Memory Areas

D01002 00B0 hex Axis Operating Input Mem-

ory Areas

Set the beginning word of the Axis Operating Input Memory Area to CIO 500.

Axis 1 input words: CIO 500 to CIO 524

D01003 01F4 hex Beginning word of Axis

Operating Input Memory Areas

D01004 0040 hex Scan list setting (axes 1 and 2)Allocate axis 1 of the PCU

to the Servo Drive.

D01005 to D01011

Set all words to 0000 hex.

Scan list setting (axes 3 to 16)

Position Control Unit

Axis 1: Servo

Axis 2: None

Axis 3: None

CPU Unit

Ladder program

Axis 1 output data

CIO 100 to CIO 124

Axis 1 input data

CIO 500 to CIO 524

Start command, etc.

Present position, etc.

Registered connections

MECHATROLINK

Servo Drive

Word Set value Data transfer

setting name

Details

CIO 1506 000C hex Number of write

words

Number of write words: 0C hex = 12 decimal

CIO 1507 0082 hex Write source area Beginning word of write data:

D01000

CIO 1508 03E8 hex Write source word CIO 1509 1838 hex Write destination

address

Write destination address in PCU: 1838 hex = Beginning word of Common Parameter Area

CIO 1500

This bit transfers data according to the data transfer settings when it is turned ON.

WRITE DATA Bit

Page 47

Starting Operation Section 2-2

While data is being written to the PCU, the Data Transferring Flag in the Common Operating Memory Area turns ON. When data has finished being written, the Data Transferring Flag turns OFF. For the PCU with unit number 0, the Data Transferring Flag is allocated in CIO 151514.

The following diagram shows the operation for writing data to the PCU.

Setting Axis Parameters

In this operation example, the PCU's default settings are used for each axis parameter, so they do not need to be transferred to the PCU.

Saving PCU Settings The Common Parameters are saved in the PCU's flash memory.

Data is saved to the PCU's flash memory by turning ON the SAVE DATA Bit in the Common Operating Memory Area. For the PCU with unit number 0, the SAVE DATA Bit is allocated in CIO 150003. Turn ON this bit using the Programming Console.

While data is being saved to flash memory, the Data Transferring Flag in the Common Operating Memory Area turns ON. When data has finished being saved, the Data Transferring Flag turns OFF. For the PCU with unit number 0, the Data Transferring Flag is allocated in CIO 151514.

CIO 1515

Data Transferring Flag

This flag is ON while data is being written. When writing is completed, the flag turns OFF.

CIO 1506

CIO 1507

CIO 1508

CIO 1509

CIO 1500

D01000

D01001

D01002

D01003

D01004

D01005

D01011

000C hex

0082 hex

03E8 hex

1838 hex

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000

1838 hex

1839 hex

183A hex

183B hex

183C hex

183D hex

1843 hex

00B0 hex

0064 hex

00B0 hex

01F4 hex

0040 hex

0000

CPU Unit Position Control Unit

CIO 1515

Common Operating Memory Area

Number of write words (12)

Write source area (D01000)

Write destination address (1838 hex)

WRITE DATA Bit

Data Transferring Flag (ON while data is being written)

DM Area

Beginning word of Axis Operating Output Memory Area (100 words)

Beginning word of Axis Operating Input Memory Area (500 words)

Scan list setting

Axis 1: Registered to Servo Drive Axes 2 to 16: Not used.

Internal address

CIO 1500

SAVE DATA Bit

This bit saves parameters in the PCU's flash memory when it is turned ON.

Page 48

Starting Operation Section 2-2

Restarting the PCU After the PCU settings have been saved, restart the PCU to enable the set-

tings. Either cycle the power to the CPU Unit, or restart the PCU. For the PCU with unit number 0, the Restart Bit is allocated in A50100.

Note Do not turn OFF the power to the PLC or restart the PCU while data is being

saved to the PCU’s flash memory. Doing so may corrupt the PCU’s memory. Always make sure that the Data Transferring Flag is OFF before turning OFF the power to the CPU Unit or restarting the PCU.

2-2-4 Starting MECHATROLINK Communications

Communications are started with the Servo Drive connected to MECHATROLINK based on the Common Parameter settings in the PCU.

MECHATROLINK communications are started by turning ON the CONNECT Bit in the Common Operating Memory Area. For the PCU with unit number 0, the CONNECT Bit is allocated in CIO 150100. Turn ON this bit using the Programming Console.

When connections are established, the PCU starts communications with the MECHATROLINK devices (Servo Drives) registered in the scan list set in the Common Parameters. When communications with the registered device are normal, the corresponding bits for the axes in the Axis Communications Status of the Common Operating Memory Area are turned ON. For the PCU with unit number 0, the Axis Communications Status is allocated in the bits of CIO

1522.

When communications with the registered devices are not normal, the corresponding bits for the axes in the Axis Communications Status bits of the Common Operating Memory Area are not turned ON and an MLK initialization error (Unit error code 0020 hex) occurs in the PCU. Any axis errors that occur can be checked using the Axis Error Flags and error codes in the Axis Operating Memory Areas.

The Connection Status Flag in the Common Operating Memory Area will turn ON at the start of communications when the CONNECT Bit turns ON, regardless of whether communications with all registered devices are normal.

In this operation example, if MECHATROLINK communications are started normally, the status of each flag is as follows:

Connection status (CIO 151615): 1 (Connection established) Axis communications status (CIO 1522): 0001 (bit 00 = Communications

established with axis 1)

CIO 1515

This flag is ON while data is being saved. When data saving is completed, the flag turns OFF.

Data Transferring Flag

CIO 1501

CONNECT Bit

This bit starts MECHATOROLINK communications when it is turned ON.

CIO 1522

Bits 00 to 15 show the communications status for axes 1 to 16, respectively. When an axis registered in the scan list is communicating normally, the corresponding bit turns ON.

Axis Communicating Bit for Axis 1

Page 49

Starting Operation Section 2-2

Unit Error Flag (CIO 151512): 0 (No error) Unit error code (CIO 1521): 0000 (No error) Axis Error Flag for axis 1 (CIO 50012): 0 (No error) (See note.) Axis error code for axis 1 (CIO 504): 0000 (No error) (See note.)

Note The Axis Operating Memory Area for axis 1 depends on the Axis Operating

Input Memory Area settings in the Common Parameters.

2-2-5 Setting Servo Parameters

The Servo Parameters are set in the connected Servo Drive. The following table shows an example of settings for the Servo Drive's external input signal allocations (input signal selection).

These settings are standard for input signals when an R88D-WT@ Servo Drive and JUSP-NS115 MECHATROLINK-II Application Module are used together.

Transferring Servo Parameters

Servo Parameters are transferred to the Servo Drive via the PCU using the SAVE SERVO PARAMETER Bits in the PCU's Axis Operating Output Memory Areas. The Servo Parameters are transferred one at a time. The following three parameters must be set as shown below to allocate the above input signals.

Input

terminal

(CN1)

Input

signal

name

Setting Servo Drive default

setting

40 --- Not used RUN (RUN command input) 41 DEC Origin return deceleration

limit switch (origin proximity input signal)

MING (gain reduction input)

42 POT Forward drive prohibit input

(forward rotation limit input signal)

Not allocated.

43 NOT Reverse drive prohibit input

(reverse rotation limit input signal)

Not allocated.

44 EXT1 External latch signal 1

(external interrupt input signal 1)

RESET (alarm reset input)

45 EXT2 External latch signal 2

(external interrupt input signal 2)

PCL (forward rotation current limit input)

46 EXT3 External latch signal 3

(external interrupt input signal 3)

NCL (reverse rotation current limit input)

Parameter No. Parameter name Set value

Pn50A Input signal selection 1 2881 Pn50B Input signal selection 2 8883 Pn511 Input signal selection 5 6541

Page 50

Starting Operation Section 2-2

Preparing Servo Parameters to Be Set in the Servo Drive

The settings for the parameter number, parameter size, and write data are set in the Axis Operating Output Memory Area as Servo Parameters to be set in the Servo Drive. In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100. Therefore, the setting words for the Servo Parameters for axis 1 are allocated as follows:

Writing Servo Parameters to the Servo Drive

The Servo Parameter settings in CIO 117 to CIO 120 are written to the Servo Drive. In this example, to transfer three Servo Parameters, execute the operation to write to the Servo Drive three times.

Writing the Pn50A Set Value

To write the Pn50A settings, first make the settings for transferring Servo Parameters to the PCU's Axis Operating Output Memory Areas as shown below.

In this example, to keep the Servo Parameters even if the Servo Drive power is turned OFF, the Servo Parameters are saved in the non-volatile memory (flash memory) in the Servo Drive. Servo Parameters are written from the PCU to the non-volatile memory (flash memory) of the Servo Drive by turning ON the SAVE SERVO PARAMETER Bit in the Axis Operating Output Memory Area.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100. Therefore, the SAVE SERVO PARAMETER Bit for axis 1 is allocated in CIO 10114. Turn ON this bit using the Programming Console.

While Servo Parameters are being saved to the Servo Drive, the Servo Parameter Transferring Flag in the Axis Operating Input Memory Area turns ON. When the Servo Parameters have finished being saved, the Servo Parameter Transferring Flag turns OFF.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Input Memory Area for axis 1 is allocated in CIO 500. Therefore, the Servo Parameter Transferring Flag for axis 1 is allocated in CIO 50014.

Word Details

CIO 117 Servo Parameter No. CIO 118 Parameter size (Unit: bytes) CIO 119 Write data (rightmost word) CIO 120 Write data (leftmost word)

Word Set value Parameter transfer

setting

Details

CIO 117 050A hex Servo Parameter No. Write Servo Parameter No.:

Pn50A CIO 118 0002 Parameter size Write parameter size: 2 (bytes) CIO 119 2881 hex Write data (rightmost

word)

Write Servo Parameter set value:

2881 CIO 120 --- Write data (leftmost

word)

Parameter size is 2 bytes (1 word,

so this is not used.) The set value

is ignored.

CIO 101

SAVE SERVO PARAMETER Bit

This bit saves the Servo parameters according to the parameter transfer settings when it is turned ON.

Page 51

Starting Operation Section 2-2

The set values for Pn50B and Pn511 are written in the same way, i.e., by changing the details of the Servo Parameters to be transferred and turning ON the WRITE DATA Bit.

Writing the Pn50B Set Value

Writing the Pn511 Setting

The following diagram shows the operation used to transfer parameters to the Servo Drive.

Word Set value Parameter transfer

setting

Details

CIO 117 050B hex Servo Parameter No. Write Servo Parameter No.:

Pn50B CIO 118 0002 hex Parameter size Write parameter size: 2 (bytes) CIO 119 8883 hex Write data (rightmost

word)

Write Servo Parameter setting:

8883 CIO 120 --- Write data (leftmost

word)

Parameter size is two bytes (one

word, so this is not used.) The set-

ting is ignored.

Word Set value Parameter transfer

setting

Details

CIO 117 0511 hex Servo Parameter No. Write Servo Parameter No.: Pn511 CIO 118 0002 hex Parameter size Write parameter size: 2 (bytes) CIO 119 6541 hex Write data (rightmost

word)

Write Servo Parameter setting:

6541 CIO 120 --- Write data (leftmost

word)

Parameter size is two bytes (i.e.,

one word, so this is not used.) The

setting is ignored.

CIO 500

Servo Parameter Transferring Flag

This flag is ON while Servo parameters are being saved, and turns OFF when saving is completed.

CIO 117

CIO 118

CIO 119

CIO 120

050A hex

0002 hex

2881 hex

CPU Unit

CIO 101

Pn50A

2881

Servo Drive (Axis 1)

CIO 500

---

Servo parameter No. (Pn50A)

Parameter length (2 bytes)

Set value (2881)

Axis Operating Input Memory Area (Axis 1)

Axis Operating Output Memory Area (Axis 1)

Servo Parameters Transferring Flag (ON while transferring)

PCU

MECHATROLINK

Non-volatile memory

Servo Parameters saved.

Page 52

Starting Operation Section 2-2

Ending MECHATROLINK Communications

The Servo Parameters written to the Servo Drive consist of online and offline parameters. Online parameters are enabled as soon as they are written, whereas offline parameters are not.

The input signal selection parameters set here are offline parameters that are enabled by cycling the power to the Servo Drive or executing the device setup operation. In this example, the Servo Drive power is cycled. First, stop MECHATROLINK communications before turning OFF the power supply to the Servo Drive.

MECHATROLINK communications are stopped by turning OFF the CONNECT Bit in the Common Operating Memory Area. For the PCU with unit number 0, the CONNECT Bit is allocated in CIO 150100. Use the Programming Console to turn OFF this bit, which was turned ON at the start of MECHATROLINK communications.

When MECHATROLINK communications stop, the Connection Status Flag in the Common Operating Memory Area turns OFF. For the PCU with unit number 0, the Connection Status Flag is allocated in CIO 151615.

Turning the Servo Drive Power OFF and ON Again

After writing Servo Parameters, and when MECHATROLINK communications have stopped, enable the Servo Parameters by cycling the power to the Servo Drive. This procedure completes settings for the PCU and Servo Drive. Unless changes in installation, wiring, or parameter settings are required, the above operation does not need to be performed a second time.

2-2-6 Operating the Servomotor from the PCU

Starting MECHATROLINK Communications

Perform the operations described in 2-2-4 Starting MECHATROLINK Communications and then start communications with the Servo Drive connected to

MECHATROLINK.

Servo Lock The servo lock of the Servomotor connected to MECHATROLINK can be set

by turning ON the SERVO LOCK Bit in the Axis Operating Output Memory Area.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100. Therefore, the SERVO LOCK Bit for axis 1 is allocated in CIO

10100. Turn ON this bit using the Programming Console.

CIO 1501

CONNECT Bit

MECHATROLINK communications stop when this bit is turned OFF.

CIO 1516

Connection Status Flag

This flag turns ON when MECHATROLINK communications start and turns OFF when MECHATROLINK communications stop.

Page 53

Starting Operation Section 2-2

When the servo lock operation is performed, the Servomotor is placed in servo lock status. The SVON (Servo ON) Flag indicating servo status in the Axis Operating Input Memory Area turns ON when an R88D-WT@ Servo Drive and JUSP-NS115 MECHATROLINK-II Application Module are used together.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Input Memory Area for axis 1 is allocated in CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.

When the servo lock is no longer required, turn OFF the corresponding SERVO LOCK Bit in the Axis Operating Output Memory Area.

Positioning Using the Direct Operation RELATIVE MOVEMENT Command

Positioning can be performed for axis 1 using the RELATIVE MOVEMENT command for direct operation. The RELATIVE MOVEMENT command for direct operation sends information on the target position and target speed to the Axis Operating Output Memory Area when the RELATIVE MOVEMENT Bit turns ON.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Output Memory Area for axis 1 is allocated in CIO 100. Therefore, the target position and target speed are set as follows:

The RELATIVE MOVEMENT Bit for axis 1 is allocated in CIO 10004. Therefore, turn this bit ON using the Programming Console.

CIO 101

SERVO LOCK Bit

This bit places the Servomotor in Servo lock status when it is turned ON.

CIO 501

SVON Flag

When the Servomotor is in Servo lock status, this flag is ON. When the Servomotor is in Servo unlock status, this flag turns OFF.

Word Set value Parameter transfer

setting

Details

CIO 102 A120 hex Position command

value (rightmost word)

Target position: 0007 A120 hex =

500,000 pulses

CIO 103 0007 hex Position command

value (leftmost word)

CIO 104 86A0 hex Speed command

value (rightmost word)

Target speed: 0001 86A0 hex =

100,000 pulses/s

CIO 105 0001 hex Speed command

value (leftmost word)

CIO 100

RELATIVE MOVEMENT Bit

This bit executes the RELATIVE MOVEMENT command for direct operation when it is turned ON.

Page 54

Starting Operation Section 2-2

The Servomotor starts rotating up to the target speed of 100,000 pulses/s and stops at 500,000 pulses. The acceleration/deceleration speed depends on the Servo Parameters set for the Servo Drive. When a W-series Servo Drive and the JUSP-NS115 are used together, the acceleration and deceleration speeds are set in the Servo Parameters as follows:

In this operation example, the default settings are used for the acceleration/ deceleration constants. With the default settings, the acceleration/deceleration movement uses a linear acceleration/deceleration waveform, and the

slope of the acceleration and deceleration is 1,000,000 pulses/s

.The target speed is 100,000 pulses/s, so after starting, the motor accelerates up to the target speed in 0.1 s, and decelerates to a stop from the target speed in 0.1 s.

The present position of each axis can be monitored in the Axis Operating Input Memory Areas.

In this operation example, the Common Parameters are set so that the beginning word of the Axis Operating Input Memory Area for axis 1 is allocated in CIO 500. Therefore, the present position (feedback present position) for axis 1 is allocated in CIO 506 and CIO 507.

Parameter

No.

Parameter name Default Unit Setting in this

example

Pn80A First-step linear

acceleration constant

100 10,000 command

units/s

Not used.

Pn80B Second-step linear

acceleration constant

100 10,000 command

units/s

1,000,000 pulses/s

Pn80C Acceleration con-

stant switching speed

0 100 command

units/s

Default settings used.

Pn80D First-step linear

deceleration constant

100 10,000 command

units/s

Not used.

Pn80E Second-step linear

deceleration constant

100 10,000 command

units/s

1,000,000 pulses/s

Pn80F Deceleration con-

stant switching speed

0 100 command

units/s

Default settings used.

Speed

Pn80B (Second-step Linear Acceleration Constant)

Pn80C (Acceleration Constant Switching Speed)

Pn80E (Second-step Linear Deceleration Constant)

Pn80F (Deceleration Constant Switching Speed)

In this operation example, the acceleration/deceleration constant switching speed is 0. Therefore, from startup, the motor accelerates according to the Second-step Linear Acceleration Constant and decelerates using the Second-step Linear Deceleration Constant until stopping. The First-step Acceleration/Deceleration Constants are not used.

Time

CIO 506

CIO 507

Feedback present position (rightmost word)

Feedback present position (leftmost word)

Page 55

Starting Operation Section 2-2

The following diagram shows the operation for the RELATIVE MOVEMENT command.

Servo Unlock The Servomotor connected to MECHATROLINK can be set to servo unlock

status by turning ON the SERVO UNLOCK Bit in the Axis Operating Output Memory Area.

10101. Turn ON this bit using the Programming Console.

When the servo unlock operation is performed, the Servomotor is placed in servo unlock status. The SVON (Servo ON) Flag indicating servo status in the Axis Operating Memory Areas turns OFF when using an R88D-WT@ Servo Drive with a JUSP-NS115 MECHATROLINK-II Application Module.

When the servo unlock status is no longer required, turn OFF the corresponding SERVO UNLOCK Bit in the Axis Operating Output Memory Area.

Stopping MECHATROLINK Communications

Always stop MECHATROLINK communications before turning OFF the power supply to the Servo Drive. MECHATROLINK communications are stopped by turning OFF the CONNECT Bit in the Common Operating Memory Area.

For the PCU with unit number 0, the CONNECT Bit is allocated in CIO

150100. Use the Programming Console to turn OFF this bit, which was turned ON at the start of MECHATROLINK communications.

CIO 102

CIO 103

CIO 104

CIO 105

A120 hex

0007 hex

86A0 hex

0001 hex

CPU Unit

CIO 100

CIO 506

CIO 507

Axis Operating Output Memory Area (Axis 1)

Target position: 0007 A120 hex = 500,000 pulses

Target speed: 0001 86A0 hex = 100,000 pulses/s

Axis Operating Input Memory Area (Axis 1)

Feedback present position (rightmost word)

Feedback present position (leftmost word)

RELATIVE MOVEMENT Bit

PCU

MECHATROLINK

Servo Drive/ Servomotor (Axis 1)

100,000 pulses/s

500,000 pulses

CIO 101

SERVO UNLOCK Bit

This bit places the Servomotor in servo unlock status when it is turned ON.

CIO 501

SVON Flag

This flag turns ON when the Servomotor is in servo lock status, and turns OFF when the Servomotor is in servo unlock status.

Page 56

Starting Operation Section 2-2

When MECHATROLINK communications stop, the Connection Status Flag in the Common Operating Memory Area turns OFF. For the PCU with unit number 0, the Connection Status Flag is allocated in CIO 151615.

This completes the operations example for operating the Servomotor using the RELATIVE MOVEMENT command for direct operation. In this operation example, the commands are sent manually from the Programming Console, but the basic operation flow is the same when sequences are programmed into the ladder program. Other functions are also used in the same way by changing the parameter settings and manipulating bits.

CIO 1501

CONNECT Bit

This bit stops MECHATROLINK communications when it is turned OFF.

CIO 1516

Connection Status Flag

This flag turns ON when MECHATROLINK communications start and turns OFF when MECHATROLINK communications stop.

Page 57

Starting Operation Section 2-2

Page 58

SECTION 3

Installation and Wiring

This section provides information on nomenclature and functions, and describes the procedures required for wiring and installation. Information on the MECHATROLINK-II Application Module is also provided.

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

3-1-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-1-2 MECHATROLINK-II Application Module for W-series Servo Drives 33

3-2 Installing the Position Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-2-2 Unit Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-2-3 Installation Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3-2-4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-3-1 PCU I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3-3-2 G-series Servo Drive I/O Signals (R88D-GN@-ML2

with Built-in MECHATROLINK-II Communications) . . . . . . . . . . 40

3-3-3 W-series Servo Drive I/O Signals (R88D-WT@ with JUSP-NS115) 44 3-3-4 W-series Servo Drive I/O Signals (R88D-WN@-ML2

with MECHATROLINK-II Built-in Communications) . . . . . . . . . . 47

3-3-5 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2

with Built-in MECHATROLINK-II Communications) . . . . . . . . . . 50

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

3-4-1 MECHATROLINK-II Communications Wiring . . . . . . . . . . . . . . . 53

3-4-2 Wiring the Servo Drive I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . 55

Page 59

Nomenclature and Functions Section 3-1

3-1 Nomenclature and Functions

3-1-1 Nomenclature

LED Indicators

For details on errors, refer to SECTION 12 Troubleshooting.

LED Name Color Status Details

RUN Run Green Lit The PCU is operating normally.

Not lit Other condition

ERC Unit Error Red Lit A fatal error has occurred in the

PCU and operation cannot continue.

Flashing A non-fatal error has occurred in

the PCU and operation can continue.

Not lit Other condition

ERH CPU Unit Error Red Lit An error has occurred in the PLC.

Not lit Other condition

ERM MECHA-

TROLINK Device Error

Red Lit An error has occurred in MECHA-

TROLINK communications.

Flashing An error has occurred in a con-

nected MECHATROLINK device.

Not lit Other condition

MLK MECHA-

TROLINK Communications Status

Yellow Lit MECHATROLINK communica-

tions in progress

Not lit MECHATROLINK communica-

tions stopped

CJ1W-NC@71 CS1W-NC@71

RUN ERC ERH ERM

MLK

NCF71

UNIT No.

MLK

Unit Number Setting Switch Sets the PCU's unit number.

LED Indicators Indicate the PCU's operating status.

MECHATROLINK-II Communications Connector Connects to the MECHATROLINK-II Connection Cable.

NCF71

RUN ERC

UNIT No.

ERH ERM MLK

MLK

Page 60

Nomenclature and Functions Section 3-1

Unit Number Setting Switch (UNIT No.)

Set the unit number using the rotary switch on the front of the PCU. The PCU's unit number is a CPU Bus Unit unit number.

Setting range: 0 to F (Unit numbers 0 to 15)

Note The factory default setting is 0.

The unit number setting determines which words are allocated to the PCU in the CPU Bus Unit Area within the CPU Unit's CIO Area.

The PCU uses this allocated area as the “Common Operating Memory Area.” For details, refer to 4-6 Common Operating Memory Area.

Note Always turn OFF the power supply before changing the Unit Number Setting

Switch's setting.

MECHATROLINK-II Communications Connector

This connector connects the PCU with MECHATROLINK devices through the special MECHATROLINK-II Connection Cable.

For details on MECHATROLINK-II Connection Cable models and configuration, refer to 3-4-1 MECHATROLINK-II Communications Wiring.

3-1-2 MECHATROLINK-II Application Module for W-series Servo Drives

The following MECHATROLINK-II Application Module must be mounted to a an R88D-WT@ W-series Servo Drive without built-in MECHATROLINK-II communications to enable connection to the PCU through MECHATROLINKII.

When a MECHATROLINK-II Application Module must be mounted to a Wseries Servo Drive, use the following device versions.

The versions of both the W-series Servo Drive and MECHATROLINK-II Application Module can be found on the nameplate on the side of each device. If an earlier version of the device is used, it will not function properly. Always use products with versions listed in the table above (or later versions).

Nomenclature This section provides a basic description of the JUSP-NS115 MECHA-

TROLINK-II Application Module's LED Indicators and Setting Switches.

UNIT No.

CJ1W-NC@71 CS1W-NC@71

Unit number Allocated words Unit number Allocated words

0 1500 to 1524 8 1700 to 1724 1 1525 to 1549 9 1725 to 1749 2 1550 to 1574 10 1750 to 1774 3 1575 to 1599 11 1775 to 1799 4 1600 to 1624 12 1800 to 1824 5 1625 to 1649 13 1825 to 1849 6 1650 to 1674 14 1850 to 1874 7 1675 to 1699 15 1875 to 1899

Name Model number Manufacturer

MECHATROLINK-II Application Module

JUSP-NS115 Yaskawa Electric Corporation

Device Compatible versions

W-series Servo Drive Ver. 39 or later MECHATROLINK-II Application Module VER. @@@03 or later

Page 61

Nomenclature and Functions Section 3-1

For details, refer to the JUSP-NS115 MECHATROLINK-II Application Module User’s Manual.

Note Refer to the user’s manual for the Servo Drive for the nomenclature and func-

tions of Servo Drives with Built-in MECHATROLINK-II Communications.

• G-series Servo Drives with Built-in MECHATROLINK-II Communications

(R88D-GN@-ML2)

• W-series Servo Drives with Built-in MECHATROLINK-II Communications

(R88D-WN@-ML2)

• SMARTSTEP Junior Servo Drives with Built-in MECHATROLINK-II Com-

munications (R7D-ZN@-ML2)

LED Indicators The LED Indicators show the operating status of the JUSP-NS115.

Note The Alarm Status LED will also be lit when MECHATROLINK communications

are not established with the PCU.

Station Address Setting Switch (SW1)

Set the Servo Drive's station address in conjunction with the MECHATROLINK-II communications setting on pin 3 of the Communications Setting DIP Switch (SW2).

Setting Range: 0 to F (See the following table.)

Note The factory default setting is 1.

Communications Setting DIP Switch (SW2)

Sets the MECHATROLINK-II communications settings.

LED Name Color Status Details

A Alarm Status Red Lit An alarm occurred in the Servo

Drive. (See note.)

Not lit Other condition

R MECHA-

TROLINK-II Communications Status

Green Lit MECHATROLINK communica-

tions in progress

Not lit MECHATROLINK communica-

tions stopped

Pin 3 of

SW2

SW1 Station

address

Note

OFF 0 --- Cannot be used. Do not set.

1 to F 1 to 15 ---

ON 0 16 ---

1 to F --- Cannot be used when connecting to the

PCU. Do not set.

1 2 3 4

O N

Page 62

Installing the Position Control Unit Section 3-2

Note (1) In some devices, the number of transmission bytes is expressed as “30

bytes,” but the meaning is the same as this 32-byte setting.

(2) The MECHATROLINK-II Application Module can be ordered from

OMRON with the following model number.

3-2 Installing the Position Control Unit

3-2-1 System Configuration Precautions

• The I/O words allocated to the PCU as a CPU Bus Unit are not determined by the Unit's mounting order, but by the unit number set on the Unit Number Setting Switch on the front of the Unit.

• The PCU can be mounted in either the CPU Rack or an Expansion Rack (only up to 10 Units per Rack for a CJ-series PLC) and up to 16 Units can be controlled by one CPU Unit.

• The CS1W-NC@71 can be mounted to a CS1W-BC@@3 CPU Backplane or a CS1W-BI@@3 Expansion Backplane.

3-2-2 Unit Installation

Use the following procedure to install the PCU.

CJ1W-NC@71

1,2,3... 1. Align the connectors correctly and mount the PCU.

Pin Function Setting Contents Default

setting

Note

1 Baud rate OFF 4 Mbps ON Turn ON this pin (10

Mbps) when connecting to the PCU.

ON 10 Mbps

2 Transmission

bytes

OFF 17 bytes ON Turn ON this pin (32

bytes) when connecting to the PCU.

ON 32 bytes

(See note.)

3 Station address OFF 1 to 15 OFF See the explanation of

SW1.

ON 16 to 30

4 Reserved by the

system.

OFF --- OFF Leave this pin OFF.

Name Yaskawa Electric Co.

model number

OMRON model

number

MECHATROLINK-II Application Module

JUSP-NS115 FNY-NS115

Page 63

Installing the Position Control Unit Section 3-2

2. Secure the PCU by sliding the yellow latches on the top and bottom until they click and lock.

Note If the latches are not completely locked, the PCU may not function properly.

To remove the PCU, slide the latches in the “release” direction and remove the PCU.

CS1W-NC@71

1,2,3... 1. Catch the hook on the top back of the PCU on the Backplane to mount the

unit.

PA205R

-2

L2/N

PERIPHE

RAL

CJ1G-CPU44

SYSMAC

Connector

UNIT No

PA205R

-2

L2/N

PERIPHE

RAL

LLE

CJ1G-CPU44

SYSMAC

RUN ERC ERH ERM

MLK

NCF71

Latch

Lock

Release

Backplane

Mounting hook

Page 64

Installing the Position Control Unit Section 3-2

2. Insert the connector on the back of the CPU properly into the connector on the Backplane.

3. Tighten the screw on the bottom of the PCU using a Phillip’s screwdriver. When mounting the PCU inside equipment, provide the minimum space indicated in the diagram to enable mounting/dismounting the PCU and to ensure proper ventilation.

Note Always tighten the mounting screw on the bottom of the PCU to a torque of

0.4 N

⋅m.

To remove the PCU, loosen the screw at the bottom of the PCU using a Phillip’s screwdriver and then lift up on the bottom of the PCU.

3-2-3 Installation Precautions

• Always turn OFF the CPU Unit's power supply before connecting or disconnecting cables or the Unit itself.

• To minimize the effects of noise, place I/O wiring in a separate duct from high-voltage lines and power lines.

• Wire strands may be scattered around during wiring, so leave the protective label on top of the PCU to prevent any wire strands from getting inside the PCU. Once the wiring has been completed, be sure to remove the label to allow ventilation.

Duct

20 mm min.

PCU

Backplane

Phillip’s screwdriver

Page 65

Installing the Position Control Unit Section 3-2

3-2-4 Dimensions

CJ1W-NC@71

RUN ERC ERH

ERM

MLK

F71

No.

MLK

Remove the label after wiring is completed.

RUN ERC

ERH ERM MLK

NCF71

UNIT No.

MLK

RUN ERC ERH ERM

MLK

NCF71

UNIT No.

MLK

2.7

Page 66

External I/O Circuits Section 3-3

CS1W-NC@71

Dimensions Mounted to Backplane

3-3 External I/O Circuits

This section describes the external I/O when a Position Control Unit is used with any of the following Servo Drives.

• G-series Servo Drives (R88D-GN@-ML2 with built-in MECHATROLINK-II communications)

• W-series Servo Drives (equipped with R88D-WT@ and JUSP-NS115)

• W-series Servo Drives (R88D-WN@-ML2 with built-in MECHATROLINK-II communications)

• SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2 with built-in MECHATROLINK-II communications)

130

101 6.2

NCF71

RUN ERC

UNIT No.

ERH ERM MLK

MLK

123

Approx. 193

Backplane

Connecting Cable

Page 67

External I/O Circuits Section 3-3

3-3-1 PCU I/O Signals

MECHATROLINK Connector (MLK)

3-3-2 G-series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-in

MECHATROLINK-II Communications)

This section describes the standard I/O signals used with a Position Control Unit when using a G-series Servo Drive with Built-in MECHATROLINK-II Communications.

Use the OMNUC G Series AC Servomotors/Servo Drives with Built-in MECHATROLINK-II Communications User's Manual (Cat. No. I566) together with this manual for information on I/O signals.

Terminal Arrangement of the Control I/O Connector (CN1)

When using G-series Servo Drives with built-in MECHATROLINK-II communications, the default control I/O signal allocations are the standard Servo Drive settings for using MECHATROLINK.

The following diagram shows the terminal arrangement of the Servo Drive's Control I/O Connector (CN1) when MECHATROLINK is being used with the Servo Drive's default settings.

This diagram shows only the I/O signals used when connecting to the PCU. For details on the Servo Drive's standard settings, refer to 6-4 Standard Set-

tings for Servo Drives Using MECHATROLINK.

Connector

specifications

Explanation

Name MLK MECHATROLINK-II connector Connector used USB connector DUSB-ARA41-T11 (made by DDK) or

equivalent

Applicable connector USB connector DUSB-APA41-B1-C50 (made by DDK),

including shell

Pin arrangement

I/O 1(NC) 2

SRD−

I/O 3 SRD+ I /O 4 (NC)

Pin Name Description

---

Send/receive data −

---

Send/receive data +

Shell Shield Shield ground

Page 68

External I/O Circuits Section 3-3

Note (1) Do not connect anything to unused pins (*).

(2) Inputs for pins 19 and 20 are determined by parameter settings. The dia-

gram shows the default configuration.

CN1 Connector (36 Pin)

1 19 POT

2 20 NOT

3 21 DEC

4 22 IN0

5 23 IN2

624

725

826

927

10 28

11 29

12 30

13 31

14 32

15 33

16 34 BAT

17 35 OUTM1COM

18 36 OUTM1

STOP Emergency

Stop Input

EXT2 External Latch

Signal 2

IN1

External General-purpose Input 1

NCL

Reverse Torque Limit Input

--- *

ALMCOM Alarm Output

+24VIN

EXT3

EXT1

PCL

--- *

/ALM

--- *

OUTM2 COM

OUTM3 COM

Origin Proximity Input

External General-purpose Input 2

--- *

OUTM2

OUTM3

BATCOM

--- *

12 to 24-VDC Power Supply Input

External Latch Signal 3

External Latch Signal 1

Forward Torque Limit Input

Alarm Output

Reverse Drive Prohibit Input

External Generalpurpose Input 0

Generalpurpose Output 2 Generalpurpose Output 3

Backup Battery Input

Generalpurpose Output 1

Forward Drive Prohibit Input

General-purpose Output 2

General-purpose Output 3

Backup Battery Input

General-purpose Output 1

Name Model Manufacturer

Servo Drive Connector 52986-3679 Molex Japan Cable Connector 10136-3000PE Sumitomo 3M Cable Case (Shell Kit) 10336-52A0-008 Sumitomo 3M

Page 69

External I/O Circuits Section 3-3

Control I/O Signals The following table shows the names and functions of the Servo Drive's con-

trol I/O signals.

CN1 Control Input Signals

Pin No. Symbol Name Function/Interface

1 +24VIN 12 to 24-VDC

Power Supply Input

Power supply input terminal (12 to 24 VDC) for sequence inputs.

2 STOP Emergency

Stop Input

Input for emergency stop. When this signal is enabled and pin 1 is not connected to pin 2, an

Emergency Stop Input error (alarm code 87) occurs. Set this signal to be enabled or disabled in the Emergency Stop Input Setting (Pn041). (Factory default: Enable)

3 EXT3 External Latch

Signal 3

This external signal input latches the current value feedback pulse counter.

The position data is obtained the moment the input is turned ON. Minimal signal width must be 1 ms or more.

4 EXT2 External Latch

Signal 2

5 EXT1 External Latch

Signal 1

6 IN1 External Gen-

eral-purpose Input 1

This input is used as external general-purpose input 1.

7 PCL Forward Torque

Limit Input

When the Torque Limit Selection (Pn003) is set to 3 or 5, this signal input selects the torque limit.

8 NCL Reverse Torque

Limit Input

19 to 20 POT Forward Drive

Prohibit Input

Forward, reverse drive rotation overtravel Input. Pn004 chooses between enable and disable. Pn044 sets the function assignment for pins 19 and 20. Pn066 selects the operation.

NOT Reverse Drive

Prohibit Input

21 DEC Origin Proximity

Input

Connect the origin proximity input signal in the origin search operation.

Pn042 changes the logic of the sensor.

22 IN0 External Gen-

eral-purpose Input 0

This input is used as external general-purpose input 0.

23 IN2 External Gen-

eral-purpose Input 2

This input is used as external general-purpose input 2.

11 --- Not used Do not connect anything. 12 --- Not used Do not connect anything. 13 --- Not used Do not connect anything. 14 --- Not used Do not connect anything. 9 --- Not used Do not connect anything. 10 --- Not used Do not connect anything. 27 --- Not used Do not connect anything. 28 --- Not used Do not connect anything. 34 BAT Backup battery

input

Connect a battery to these terminals as a backup when the absolute encoder is stopped. A cable with a battery is not required if a battery is connected to these terminals. (Backup voltage: 3.6 V)

33 BATCOM

17 --- Not used Do not connect anything. 24 --- Not used Do not connect anything. 25 --- Not used Do not connect anything. 26 --- Not used Do not connect anything. 18 --- Not used Do not connect anything.

Page 70

External I/O Circuits Section 3-3

CN1 Control Input Signal Connection Diagram

Note (1) If the limit input signal inputs (Servo Drive's forward drive prohibited sig-

nal and reverse drive prohibited signal) are not allocated, the Servo Drive will not stop the Servomotor when the signal is input, and the Position Control Unit will also not detect limit inputs as errors. When using a Position Control Unit, always allocate the Servo Drive's forward drive prohibited signal and reverse drive prohibited signal to enable use of the limit input signals. (Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK.)

(2) The signal width of the limit input signals (forward drive prohibited signal

and reverse drive prohibited signal) and origin proximity input signal (origin return deceleration limit switch) must be longer than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the Position Control Unit will be unable to detect the input signal.

(3) When selecting a sensor for the origin proximity input signal (origin return

deceleration LS), use a sensor such as a Photoelectric Sensor, which does not have chattering, because the origin signal is detected after the input goes from ON to OFF during the origin search. If a switch with contacts is used, the origin position may shift due to the switch contact's chattering.

CN1 Control Output Signals

1+24VIN

4.7 kΩ

External power supply: 12 VDC ±5% to 24 VDC ±5%

Power supply capacity: 50 mA min. (per Unit)

To other input circuit ground commons

To other input circuits

Photocoupler inpu

Signal Levels ON level: 10 V min. OFF level: 3 V max.

Pin No. Symbol Name Function/Interface

15 /ALM Alarm Output The output is OFF when an

alarm is generated in the Servo Drive.

16 ALMCOM

29 OUTM2 General-purpose Out-

put 2 (READY)

This is a general-purpose output. The function for this output is selected by changing the parameter.

Refer to Output Signal Assignment Details on the next page.

30 OUTM2COM 31 OUTM3 General-purpose Out-

put 3 (CLIM)

32 OUTM3COM 36 OUTM1 General-purpose Out-

put 1 (BKIR)

35 OUTM1COM

Page 71

External I/O Circuits Section 3-3

■ Output Signal Assignment Details

Control Output Circuits

3-3-3 W-series Servo Drive I/O Signals (R88D-WT@ with JUSP-NS115)

This section explains the I/O signals used between the PCU and a W-series Servo Drive equipped with a JUSP-NS115 MECHATROLINK-II Application Module.

Use the OMNUC W Series User's Manual together with this manual for information on I/O signals.

Terminal Arrangement of the Control I/O Connector (CN1)

The following diagram shows the terminal arrangement of the W-series Servo Drive's Control I/O Connector (CN1) when MECHATROLINK is being used with the Servo Drive's standard settings.

This diagram shows only the I/O signals used when connecting to the PCU. For details on the Servo Drive's standard settings, refer to 6-4 Standard Set-

tings for Servo Drives Using MECHATROLINK.

Pn112 (General-purpose Output 1

Function Selection)

Pn113 (General-purpose Output 2

Function Selection)

Pn114 (General-purpose Output 3

Function Selection)

OUTM1 (General-purpose Output 1) OUTM2 (General-purpose Output 2) OUTM3 (General-purpose Output 3)

0 Not assigned No output. Always OFF. 1 INP1 Positioning Completed 1 output

assignment.

2 VCMP Speed Conformity Signal out-

put assignment.

3 TGON Servomotor Rotation Speed

Detection output assignment.

4 READY Servo Ready output assign-

ment.

5 CLIM Current Limit Detection output

assignment.

6 VLIM Speed Limit Detection output

assignment.

7 BKIR Brake Interlock output assign-

ment.

8 WARN Warning Signal output assign-

ment.

9 INP2 Positioning Completed 2 output

assignment.

Servo Drive

To other output circuits

External power supply 24 VDC ±1 V Maximum operating voltage: 30 VDC Maximum output current: 50 mA

Di: Diode for preventing surge voltage (Use high-speed diodes.)

−

Page 72

External I/O Circuits Section 3-3

Note (1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.

The connector on the Servo Drive side is connected to the FG (frame ground).

CN1 Connector (50 Pin)

1 26 INP1COM

2 27 BKIR

3 28 BKIRCOM

4 29 READY

5 30 READYCOM

631

732

833

934

10 35

11 36

12 37

13 38

14 39

15 40

16 41 DEC

17 42 POT

18 43 NOT

19 44 EXT1

20 45 EXT2

21 46 EXT3

22 47 +24VIN

23 48

24 49

25 INP1 50

--- ---

BATGND

Backup battery

− input

--- ---

BAT

--- ---

Positioning completed output 1

Brake interlock output

Servo ready output

ALM

Alarm output

--- ---

Origin return deceleration LS input

Reverse drive prohibit input

External latch 2 input

+24 VDC control power supply input

--- ---

Positioning completed output 1 common

Brake interlock output common

Servo ready output common

ALMCOM Alarm output

common

--- ---

---

Unused input

Forward drive prohibit input

External latch 1 input

External latch 3 input

--- ---

Backup battery + input

Name Model Manufacturer

Receptacle on Servo Drive Side 10250-52A2JL Sumitomo 3M Soldered Plug on Cable Side 10150-3000VE Sumitomo 3M Case on Cable Side 10350-52A0-008 Sumitomo 3M

Page 73

External I/O Circuits Section 3-3

Control I/O Signals The following tables show the names and functions of the Servo Drive's con-

trol I/O signals.

CN1 Control Input Signals

Control Input Circuit

Note (1) If the limit input signal inputs (Servo Drive's forward drive prohibited sig-

(2) The signal width of the limit input signals (forward drive prohibited signal

Pin no.

Signal Name Function/Interface Control

mode

40 --- Not used. This control input signal is not used with the standard set-

tings.

---

41 DEC Origin return deceleration LSUsed as the origin proximity input signal during the origin

search operation. With the standard settings, the signal is enabled when ON.

Position

42 POT Forward drive prohibit

input (Positive overtravel)

Used as the forward limit input. With the standard settings, the input is normally closed and

operates as follows:

OFF: Drive prohibited ON: Drive allowed

All modes

43 NOT Reverse drive prohibit

input (Negative overtravel)

Used as the reverse limit input. With the standard settings, the input is normally closed and

operates as follows

OFF: Drive prohibited ON: Drive allowed

All modes

44 EXT1 External latch 1 input Input signal used for external interrupts.

Used as an external interrupt input signal during interrupt feeding or an external origin input signal during an origin search.

With the standard settings, the signal is enabled when ON.

Position 45 EXT2 External latch 2 input 46 EXT3 External latch 3 input

47 +24VIN +24 VDC control power

supply

This is the input terminal for the +24 VDC control input power supply.

All modes

Servo Drive

Photocoupler input (24 VDC, 7 mA)

3.3 k

To other input circuits

+24VIN

Minimum ON time: 2 ms

To other input circuits GND common

• Signal levels ON: Min. voltage (+24VIN − 11 V) OFF: Max. voltage (+24VIN − 1 V)

External power supply 24 ± 1 VDC Power supply capacity 50 mA min. (per Unit)

Page 74

External I/O Circuits Section 3-3

(3) When selecting a sensor for the origin proximity input signal (origin return

CN1 Control Output Signals

Control Output Circuit

Note The circuit is equipped with an auto-resetting circuit breaker to protect the out-

put. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current. (Ver. 37 and later Servo Drives are equipped with the auto-resetting circuit breakers.)

3-3-4 W-series Servo Drive I/O Signals (R88D-WN@-ML2 with

MECHATROLINK-II Built-in Communications)

This section explains the I/O signals used between the PCU and a W-series Servo Drive equipped with built-in MECHATROLINK-II communications.

Use the OMNUC W Series User's Manual (Cat. No. I544) together with this manual for information on I/O signals.

Terminal Arrangement of the Control I/O Connector (CN1)

When using W-series Servo Drives equipped with built-in MECHATROLINK-II communications, the default control I/O signal allocations are the standard Servo Drive settings for using MECHATROLINK.

The following diagram shows the terminal arrangement of the W-series Servo Drive's Control I/O Connector (CN1) when MECHATROLINK is being used with the Servo Drive's default settings.

This diagram shows only the I/O signals used when connecting to the PCU.

Pin no. Signal Name Function/Interface Control

mode

25 INP1 Positioning completed

output 1

The position deviation is less than positioning completion range 1 (Pn500). (This signal is always OFF in control modes other than position control mode.)

Position 26 INP1COM

27 BKIR Brake interlock output This is the holding brake timing signal that is output

according to the settings in parameters Pn506, Pn507, and Pn508.

All modes 28 BKIRCOM

29 READY Servo ready output Turned ON if there are no errors after the control and

main circuit power supplies are turned ON.

All modes 30 READYCOM 31 ALM

Alarm output This output turns OFF when there is a Servo Drive

alarm.

All modes 32 ALMCOM Shell FG Frame ground Use this terminal to connect the cable's shield and FG

wire.

All modes

Servo Drive

To other output circuit

−

See note.

Di: Diode providing surge-voltage protection (Use a high-speed diode.)

External power supply 24 ± 1 VDC

Voltage: 30 VDC max. Output current: 50 mA max.

Page 75

External I/O Circuits Section 3-3

For details on the Servo Drive's standard settings, refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK.

Note (1) Do not connect wiring to unused pins.

(2) Connect the control I/O signal cable's shield wire to the connector shell.

The connector on the Servo Drive side is connected to the FG (frame ground).

CN1 Connector (26 Pins)

Control I/O Signals The following tables show the names and functions of the Servo Drive's con-

trol I/O signals.

Control Input Signals

1 14 BAT

2 15 BATGND

316

417

518

6 +24VIN 19

7 POT 20

8 NOT 21

9 DEC 22

10 EXT1 23 SO2+

11 EXT2 24 SO2−

12 EXT3 25 SO3+

13 26 SO3−

BKIR (SO1+)

--- ---

---

BKIRCOM (SO1−)

--- ---

Brake interlock output

Forward drive prohibited

Origin return deceleration limit switch External latch

2 input

Unused input

Brake interlock output common

Reverse drive prohibited

External latch 1 input

External latch 3 input

Backup battery + input

Unused output

Backup battery

− input

Unused output

24-VDC control power supply

ALM

Alarm output

ALMCOM

Alarm output common

Name Model Manufacturer

Receptacle on Servo Drive Side 10226-52A2JL Sumitomo 3M Soldered Plug on Cable Side 10126-3000VE Sumitomo 3M Case on Cable Side 10326-52A0-008 Sumitomo 3M

Pin No. Symbol Name Function/Interface Control mode

6 +24VIN +24 VDC control

power supply

This is the input terminal for the +24 VDC control input power supply.

All modes

7 POT Forward drive pro-

hibited

Used as the forward limit input. With the standard settings, the input is normally

closed and operates as follows:

OFF: Drive prohibited ON: Drive allowed

All modes

8 NOT Reverse drive pro-

hibited

Used as the reverse limit input. With the standard settings, the input is normally

closed and operates as follows

OFF: Drive prohibited ON: Drive allowed

All modes

9 DEC Origin return decel-

eration limit switch

Used as the origin proximity input signal during the origin search operation.

With the standard settings, the signal is enabled when ON.

Position

Page 76

External I/O Circuits Section 3-3

Control Input Circuit

Note (1) If the limit input signal inputs (Servo Drive's forward drive prohibited sig-

(2) The signal width of the limit input signals (forward drive prohibited signal

(3) When selecting a sensor for the origin proximity input signal (origin return

Control Output Signals

10 EXT1 External latch 1 input Input signal used for external interrupts.

Used as an external interrupt input signal during interrupt feeding or an external origin input signal during an origin search.

With the standard settings, the signal is enabled when ON.

Position 11 EXT2 External latch 2 input 12 EXT3 External latch 3 input

13 --- Not used. This control input signal is not used with the standard

settings.

---

Pin No. Symbol Name Function/Interface Control mode

Servo Drive

Photocoupler input (24 VDC, 7 mA)

3.3 k

To other input circuits

+24VIN

Minimum ON time: 2 ms

To other input circuits GND common

• Signal levels ON: Min. voltage (+24VIN − 11 V) OFF: Max. voltage (+24VIN − 1 V)

External power supply 24 ± 1 VDC Power supply capacity 50 mA min. (per Unit)

Pin No. Symbol Name Function/Interface Control mode

1 BKIR

(SO1+)

Brake interlock output

This is the holding brake timing signal that is output according to the settings in parameters Pn506, Pn507, and Pn508.

All modes

2 BKIRCOM

(SO1−)

3ALM

Alarm output This output turns OFF when there is a Servo Drive

alarm.

All modes 4ALMCOM

Page 77

External I/O Circuits Section 3-3

Control Output Circuit

Note The circuit is equipped with an auto-resetting circuit breaker to protect the out-

put. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current.

3-3-5 SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with

Built-in MECHATROLINK-II Communications)

This section describes the standard I/O signals used with a Position Control Unit when using a SMARTSTEP Junior Servo Drive with Built-in MECHATROLINK-II Communications.

Refer also to the SMARTSTEP Junior Servo Drive with MECHATROLINK-II Communications User’s Manual (Cat. No. I554).

Terminal Arrangement of Control I/O Connector (CN1)

The default control I/O signal allocations for a SMARTSTEP Junior Servo Drive with MECHATROLINK-II Communications are set to the standard Servo Drive settings for using MECHATROLINK. The default pin arrangement of the control I/O connector (CN1) on the Servo Drive are shown below.

Only the I/O signals that are connected to the Position Control Unit are shown. Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK for the standard Servo Drive settings for using MECHATROLINK.

Note (1) Do not connect unused pins.

23 SO2+ General-purpose

output

These control input signals are not used with the standard settings.

All modes 24 SO2− 25 SO3+ 26 SO3− Shell FG Frame ground Use this terminal to connect the cable's shield and

FG wire.

All modes

Pin No. Symbol Name Function/Interface Control mode

Servo Drive

To other output circuit

−

See note.

Di: Diode providing surge-voltage protection (Use a high-speed diode.)

External power supply 24 ± 1 VDC

Voltage: 30 VDC max. Output current: 50 mA max.

1 EXT1 External

latch signal 1 input

8 --- ---

2 DEC Origin prox-

imity input

9 --- ---

3NOT Reverse

drive inhibit input

10 --- ---

4POT Forward

drive inhibit input

11 --- ---

5+24VIN+24 VDC

control power supply input

12 ALM

Alarm output

6 STOP Emergency

stop input

13 BKIR Brake inter-

lock output

70GND Output

ground common

14 --- ---

Page 78

External I/O Circuits Section 3-3

(2) Connect the shield in the control I/O signal cable to the connector hood.

At the Servo Drive connector, connect it to the FG (Frame ground).

CN1 Connector (14 Pins)

Control I/O Signals The names and functions of Servo Drive control I/O signals are given in the

following table.

CN1 Control Input Signals

Control Input Circuits

Name Model Manufacturer

Receptacle on Servo Drive Side 10226-52A2JL Sumitomo 3M Soldered Plug on Cable Side 10126-3000VE Sumitomo 3M Case on Cable Side 10326-52A0-008 Sumitomo 3M

No.

Signal Name Function/interface Control

mode

1 EXT1 External latch signal 1 input An external interrupt input signal.

Use as an external interrupt signal for interrupt feeding or as external origin input signal for origin searches. The signal is valid when ON.

Position

2 DEC Origin proximity input The origin proximity input signal for ori-

gin searches. The signal is valid when ON.

All modes

3 NOT Reverse drive inhibit input The limit input in the reverse direction.

This input operates as follows (i.e., like a NC contact): OFF: Drive prohibited, ON: Drive enabled

All modes

4 POT Forward drive inhibit input The limit input in the forward direction.

This input operates as follows (i.e., like a NC contact): OFF: Drive prohibited, ON: Drive enabled

All modes

5 +24VIN +24-V power supply input for

control DC

The +24 VDC input terminal for the control input power supply.

All modes

6 STOP Emergency stop input An external input signal used to stop

power supply to the motor. This input is used when an error occurs

to unlock the Servo from a host controller.

This input operates as follows (i.e., like a NC contact): OFF: Power to motor stopped (Servo

cannot be locked).

ON: Power can be supplied to motor

(Servo can be locked).

All modes

EXT

3.3 kΩ

External power supply 24±1 VDC

Power supply capacity 50 mA max. (per Unit)

Photocoupler input: 7 mA at 24 VDC

Minimum ON time: 40 ms

To ground common for other input circuit

Other input circuit

Signal Levels: ON: (+24 VIN − 11) V min.

OFF: (+24 VIN − 1) V max.

Servo Drive

EXT

3.3 kΩ

External power supply 24±1 VDC

Power supply capacity 50 mA max. (per Unit)

Photocoupler input: 7 mA at 24 VDC

Minimum ON time: 40 ms

To ground common for other input circuit

Other input circuit

Signal Levels: ON: (+24 VIN − 11) V min.

OFF: (+24 VIN − 1) V max.

Servo Drive

Page 79

External I/O Circuits Section 3-3

Note (1) If the limit input signal inputs (Servo Drive's forward drive prohibited sig-

(2) The signal width of the limit input signals (forward drive prohibited signal

(3) When selecting a sensor for the origin proximity input signal (origin return

(4) The SMARTSTEP Junior Servo Drive's emergency stop input stops the

Servomotor using software processing. If required for system safety, add a safety circuit in an external circuit.

CN1 Control Output Signals

Control Input Circuits

Note The circuit is equipped with an auto-resetting circuit breaker to pro-

tect the output. Even if an overcurrent trips the breaker, the breaker will reset automatically after a certain time elapses with no current.

Pin No. Signal Name Function/interface Control mode

7 0GND Output ground common The ground common for control output sig-

nals.

All modes

12 ALM Alarm output Turns OFF when an alarm occurs in the

Servo Drive.

All modes

13 BKIR Brake interlock output Output as a timing signal for a holding brake

when the Servo is locked or unlocked.

All modes

Shell FG Frame ground The connection point for the cable shield

and FG line.

All modes

7 0GND

ALM

BKIR

Servo Drive

External power supply: 24±1 VDC

Maximum applicable voltage: 30 VDC Maximum output current: 50 mA

Di: Diode to suppress surge voltage (Use a high-speed diode.)

Page 80

Wiring Section 3-4

3-4 Wiring

This section provides examples of the connections between the PCU and Servo Drive as well as the Servo Drive's control I/O connections.

3-4-1 MECHATROLINK-II Communications Wiring

Use the special MECHATROLINK-II Connection Cable to connect the PCU and Servo Drive (MECHATROLINK-II Application Module).

Connection Cable Use the following cables (made by Yaskawa Electric) to connect MECHA-

TROLINK-II devices.

Termina tors Make sure to connect the following Terminator at the end of the MECHA-

TROLINK-II communications line.

Repeaters The wiring distance for the MECHATROLINK-II can be extended to a maxi-

mum of 100 m by using Repeaters.

Note MECHATROLINK-II Connection Cables and Terminators can be ordered from

OMRON with the following model numbers.

Name Model number Cable length Manufacturer

MECHATROLINK-II Connection Cable (USB connectors and ferrite cores on both ends)

JEPMC-W6003-A5 0.5 m Yaskawa Electric

Corporation

JEPMC-W6003-01 1.0 m JEPMC-W6003-03 3.0 m JEPMC-W6003-05 5.0 m JEPMC-W6003-10 10 m JEPMC-W6003-20 20 m JEPMC-W6003-30 30 m

Name Model number Manufacturer

MECHATROLINK-II Terminator JEPMC-W6022 Yaskawa Electric Corporation

Name Model number Manufacturer

MECHATROLINK-II Repeater JEPMC-REP2000 Yaskawa Electric Corporation

Name Yaskawa Electric Co.

model number

OMRON model

number

MECHATROLINK-II Connection Cable (USB connectors and ferrite cores on both ends)

JEPMC-W6003-A5 FNY-W6003-A5 JEPMC-W6003-01 FNY-W6003-01 JEPMC-W6003-03 FNY-W6003-03 JEPMC-W6003-05 FNY-W6003-05 JEPMC-W6003-10 FNY-W6003-10 JEPMC-W6003-20 FNY-W6003-20

JEPMC-W6003-30 FNY-W6003-30 MECHATROLINK-II Terminator JEPMC-W6022 FNY-W6022 MECHATROLINK-II Repeater JEPMC-REP2000 FNY-REP2000

Page 81

Wiring Section 3-4

MECHATROLINK-II Communications Connections

The following example shows a PCU connected with several Servo Drives with the MECHATROLINK-II Connection Cables.

Note When not using Repeaters, the maximum total length of the Connection

Cable (L1 + L2 + ... + Ln) is 50 m when using fewer than 16 axes or 30 m when using 16 axes.

MECHATROLINK-II Connection Cable Length

The maximum total length of the Connection Cables depends on the number of MECHATROLINK devices (Servo Drives) being connected, as shown in the following table.

Note The number of devices in the table for when Repeaters are used does not

include the Repeaters. For example, if using one MECHATROLINK device between the PCU and the Repeater and 15 MECHATROLINK devices between the Repeater and the Terminator, there will be 16 MECHATROLINK devices and the maximum total cable length is 100 m.

Note Always turn OFF the power supply to the PCU and Servo Drives before con-

necting or disconnecting MECHATROLINK-II Connection Cables or the Terminator.

NS115 NS115 NS115

Position Control Unit

L1 L2 Ln

Terminator

Repeaters Number of MECHATROLINK

devices

Minimum cable length between

devices

Maximum total

cable length

Without Repeaters

15 or fewer 0.5 m min. 50 m max. 16 0.5 m min. 30 m max.

With Repeaters

Between PCU and Repeater

14 or fewer 0.5 m min. 50 m max. 15 0.5 m min. 30 m max.

Between Repeater and Terminator

15 or fewer 0.5 m min. 50 m max. 16 0.5 m min. 30 m max.

Page 82

Wiring Section 3-4

3-4-2 Wiring the Servo Drive I/O Signals

The following example shows a Servo Drive's control I/O signal connections when a Position Control Unit is connected to a G-series Servo Drive, a Wseries Servo Drive, or a SMARTSTEP Junior Servo Drive.

For details on connecting the Servo Drive to the power supply or Servomotor, refer to the Servo Drive operation manual.

Control I/O Connector (CN1) Connection Example

R88D-GN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)

Note (1) If a backup battery is connected, a cable with a battery is not required.

/ALM

ALMCOM

8NCL

7PCL

IN1

5EXT1

EXT2

EXT3

2STOP

1+24VIN

19POT

20NOT

21DEC

BAT

BATCOM

22IN0

23IN2

4.7k

4.7 k

OUTM1

OUTM1COM

OUTM2

OUTM2COM

OUTM3

OUTM3COM

12 to 24 VDC

Alarm Output

General-purpose Output 1

General-purpose Output 2

General-purpose Output 3

Shell

Backup Battery (See note 1.)

Emergency Stop

External Latch 3

External Latch 2

External Latch 1

Generalpurpose Input 1

Forward Torque Limit Input

Reverse TorqueLimit Input

Forward Drive Prohibit Input

Reverse Drive Prohibit Input

Origin Proximity Input

Generalpurpose Input0

Generalpurpose Input 2

Page 83

Wiring Section 3-4

(2) Inputs for pins 19 and 20 are determined by parameter settings. The dia-

gram shows the default configuration.

R88D-WT@ with JUSP-NS115

The following example shows the connections when the standard I/O signal settings are being used.

R88D-WN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)

INP1 Positioning completed output 1 INP1COM

Max. voltage: 30 VDC Max. output current: 50 mA

BKIR Brake interlock output BKIRCOM

READY Servo ready output READYCOM

45EXT2

EXT3

44EXT1

43NOT

41DEC

POT

Not used.

3.3 kΩ

24 VDC +24VIN

Shell

FG Frame ground

Origin return deceleration LS

Forward drive prohibited signal

Reverse drive prohibited signal

External latch 1 input

External latch 2 input

External latch 3 input

ALM Alarm output ALMCOM

Not used.

24 VDC +24VIN

Shell

FG Frame ground

3.3 kΩ

Origin return deceleration LS

Forward drive prohibited signal

Reverse drive prohibited signal

External latch 1 input

External latch 2 input

External latch 3 input

SO2+ Not used. SO2

−

SO1+ Brake interlock output SO1

−

SO3+ Not used. SO3

−

ALM Alarm output ALMCOM

Max. voltage: 30 VDC Max. output current: 50 mA

POT

DEC

EXT1

EXT2

EXT3

Page 84

Wiring Section 3-4

R7D-ZN@-ML2 (Equipped with Built-in MECHATROLINK-II Communications)

Note When a Servo Drive is controlled through MECHATROLINK-II communica-

tions, software processes are used to stop the Servomotor when the corresponding PCU control signal is received, the Servo Drive's drive prohibited input signal is received, or an error occurs. Use an external fail-safe circuit (outside of the Servo Drive), such as a circuit that disconnects the Servo Drive's main power supply, to stop the system in an emergency.

Components Provided to Wire Control I/O Signals

The following components are provided to wire the Control I/O Connector (CN1) on a G-series, W-series, or SMARTSTEP Junior Servo Drive.

Control I/O Connector (R88A-CNU01C)

This connector connects to the Control I/O Connector (CN1) on a G-series Servo Drive (R88D- GN@-ML2).

Use this connector when making your own control cable.

Dimensions

Control I/O Connector (R88A-CNU11C)

This connector connects to the W-series Servo Drive’s Control I/O Connector (CN1).

Use this connector when making your own control cable.

3.3 kΩ

+24VIN

24 VDC

POT

NOT

DEC

EXT1

STOP

Forward rotation drive prohibit

Reverse rotation drive prohibit

Emergency stop input

Origin proximity input

External latch signal 1

BKIR Brake interlock

Maximum operating voltage: 30 V DC Maximum output current: 50 mA

Frame ground

Shell

/ALM Alarm output

0GND

3.3 kΩ

52.4

t = 18

Connector Plug model 10136-3000PE (Sumitomo 3M) Connector Case model 10336-52A0-008 (Sumitomo 3M)

Page 85

Wiring Section 3-4

Dimensions

Control I/O Connector (R88A-CNW01C)

This connector connects to the R88D-WN@-ML2 W-series Servo Drive's Control I/O Connector (CN1).

Use this connector when making your own control cable.

Dimensions

Control I/O Connector (R7A-CNA01R)

This connector connects to the R7D-ZN@-ML2 SMARTSTEP Junior Servo Drive's Control I/O Connector (CN1).

Use this connector when making your own control cable.

General-purpose Control Cable (R88A-CPW@S)

This cable has a connector already attached, which connects to the R88DWT@ W-series Servo Drive's Control I/O Connector (CN1). There is no connector attached to the other end of the cable. Attach an appropriate connector to connect the desired I/O device in order to use the cable.

Standard Cables

52.4

t = 18

Connector Plug model 10150-3000VE (Sumitomo 3M) Connector Case model 10350-52A0-008 (Sumitomo 3M)

37.2

t = 14

Connector plug: 10126-3000VE (Sumitomo 3M) Connector case: 10326-52A0-008 (Sumitomo 3M)

29.5

t = 12.7

Driver end

R7D-ZP@

Model Length (L) Sheath diameter Approx. weight

R88A-CPW001S 1 m 12.8-mm dia. 0.3 kg R88A-CPW002S 2 m 0.6 kg

Page 86

Wiring Section 3-4

Connection Configuration and Dimensions

Wiring

Connector Plug model: 10150-3000VE (Sumitomo 3M) Connector Case model: 10350-52A0-008 (Sumitomo 3M) Cable: 24 AWG, 25 wire, UL20276

Note (1) Wires with the same wire color and number of marks make up a twisted

pair. For example, the Orange/Red (

−) and Orange/Black (−) wires make up a

twisted pair.

(2) The I/O signals listed in the table above are applicable only when con-

necting to the PCU. Do not wire any unused signals.

Connector Terminal Block Cables (XW2Z-@J-B33)

This is the Connector Terminal Block Cable for G-series Servo Drives (R88DWN@-ML2 with built-in MECHATROLINK-II communications).

Controller

Servo Drive

R88D-WT@

t = 18

39L

No. Wire/Marking colors Signal No. Wire/Marking colors Signal

1 Yellow/Black (− − −) --- 27 White/Red (− −) BKIR 2Pink/Black (− − − −) --- 28 White/Black (− −) BKIRCOM 3 Yellow/Red (− − − − −) --- 29 Yellow/Red (− −) READY 4 Pink/Red (− − − −) --- 30 Yellow/Black (− −) READYCOM 5 Orange/Red (−) --- 31 Pink/Red (− −) --- 6 Orange/Black (−) --- 32 Pink/Black (− −) --- 7Gray/Red (−) --- 33 Orange/Red (− − −) --- 8Gray/Black (−) --- 34 Orange/Black (− − −) --- 9 White/Red (−) --- 35 Gray/Black (− − −) --10 White/Black (−) --- 36 Gray/Red (− − −) --- 11 Yellow/Red (−) --- 37 White/Red (− − −) --- 12 Yellow/Black (−) --- 38 White/Black (− − −) --- 13 Yellow/Black (− − − − −) --- 39 Yellow/Red (− − −) --- 14 Pink/Black (−) --- 40 Pink/Red (− − −) (Not used.) 15 Pink/Red (−) --- 41 Pink/Black (− − −)DEC 16 Orange/Red (− − − − −) --- 42 Orange/Red (− − − −)POT 17 Orange/Black (− − − − −) --- 43 Orange/Black (− − − −)NOT 18 Pink/Red (− − − − −) --- 44 Gray/Black (− − − −) EXT1 19 Gray/Red (− −) --- 45 White/Red (− − − −) EXT2 20 Gray/Black (− −) --- 46 White/Black (− − − −) EXT3 21 Gray/Red (− − − − −) --- 47 Gray/Red (− − − −)+24VIN 22 Gray/Black (− − − − −) --- 48 Yellow/Red (− − − −) --- 23 White/Red (− − − − −) --- 49 Yellow/Black (− − − −) --- 24 White/Black (− − − − −) --- 50 Pink/Black (− − − − −) --- 25 Orange/Red (− −) INP1 Shell --- FG 26 Orange/Black (− −)INP1COM

Page 87

Wiring Section 3-4

Standard Cables

Connection Configuration and Dimensions

Wiring

Connector Terminal Block Cables (XW2Z-@J-B15)

This cable connects to the R88D-WT@ W-series Servo Drive’s connector terminal block.

Standard Cables

Connection Configuration and Dimensions

Model Length (L) Outer diameter of

cable

Approx. weight

XW2Z-100J-B33 1 m 8.0 dia. 0.1 kg XW2Z-200J-B33 2 m 0.2 kg

43.5

39L

XW2B-20G4 XW2B-20G5 XW2D-20G6

t=18

Connector terminal block end

Servo Drive end

R88D-GN@

No.

1 2 3 4 5 6 7 8 9

13 14 15 16 17 18 19 20

No.

1 2 3 4 5 6 7 8 9

13 14 15 16 17 18 19 20

No.

1 +24VIN

STOP 21 19

POT

33 BATCOM 34 BAT 35 OUTM1COM 36 OUTM1 16 ALMCOM 15 /ALM

DEC

NOT

1111

EXT1

EXT2

5 4 3 EXT3

+24VIN

STOP

POT

BATCOM

BAT

OUTM1COM

OUTM1

ALMCOM

/ALM

DEC

NOT EXT1 EXT2 EXT3

+24VIN

Servo Drive

Signal

Terminal block

Connector

Signal

Shell

Not specified.

Blue/Red (1)

Blue/Black (1)

Pink/Red (1) Pink/Black (1) Green/Red (1)

Green/Black (1) Orange/Red (1)

Orange/Black (1)

Gray/Red (1) Gray/Black (1)

Blue/Red (2) Blue/Black (2)

Pink/Red (2) Green/Red (2)

Green/Black (2) Orange/Red (2)

Orange/Black (2)

Gray/Red (2) Gray/Black (2)

Wire/mark color

• Wires with the same wire color and the same number of marks form a twisted pair.

A pink/red (1) wire and pink/black (1) wire form a twisted pair.

Servo Drive Connector Connector plug: 10136-3000PE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M)

Terminal Block Connector Connector socket: XG4M-2030 (OMRON) Strain relief: XG4T-2004 (OMRON)

Cable AWG28

×10P UL2464

Model Length (L) Approx. weight

XW2Z-100J-B15 1 m 0.1 kg XW2Z-200J-B15 2 m 0.2 kg

t=18

Connector terminal block end

Servo Drive end

XW2B-20G4 XW2B-20G5 XW2D-20G6

R88D-WT@

52.4

39L6

Page 88

Wiring Section 3-4

Wiring

Connector on Servo Drive End

Connector Plug: 10150-300VE (Sumitomo 3M) Connector Case: 10350-52A0-008 (Sumitomo 3M)

Connector on Connector Terminal Block End

Connector Socket: XG4M-2030 (OMRON) Strain Relief: XG4T-2004 (OMRON)

Cable: AWG28

× 3P + AWG28 × 7C UL2464

Note Signal names for the connector on the Servo Drive end are for standard I/O

allocations.

Connector Terminal Block Cables (XW2Z-@J-B16)

This is the Connector Terminal Block Cable for W-series Servo Drives (R88DWN@-ML2 with built-in MECHATROLINK-II communications).

Standard Cables

Connection Configuration and Dimensions

Connector terminal block end

Name +24 V 0 V +24 V 0 V +24 V 0 V

DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG

No.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18 19 20

Servo Drive end

Name

+24 VIN

DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG

No.

41 42 43 44 45 46 22 21 28 27 32 31

Shell

Model Length (L) Approx. weight

XW2Z-100J-B16 1 m 0.1 kg XW2Z-200J-B16 2 m 0.2 kg

XW2B-20G4 XW2B-20G5 XW2D-20G6

R88D-WN@-ML2

37.2

39L6

t=14

Connector terminal block end

Servo Drive end

Page 89

Wiring Section 3-4

Wiring

Connector on Servo Drive End

Connector Plug: 10126-300VE (Sumitomo 3M) Connector Case: 10326-52A0-008 (Sumitomo 3M)

Connector on Connector Terminal Block End

Connector Socket: XG4M-2030 (OMRON) Strain Relief: XG4T-2004 (OMRON)

Cable: AWG28

× 3P + AWG28 × 7C UL2464

Note Signal names for the connector on the Servo Drive end are for standard I/O

allocations.

Connector Terminal Block Cable (XW2Z-@J-B19)

This is the Connector Terminal Block Cable for the SMARTSTEP Junior Servo Drive Control I/O Connector (CN1).

Standard Cables

Connection Configuration and Dimensions

Connector terminal block end

Name +24 V 0 V +24 V 0 V +24 V 0 V

DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG

No.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18 19 20

Servo Drive end

Name

+24 VIN

DEC POT NOT EXT1 EXT2 EXT3 BATGND BAT BKIRCOM BKIR ALMCOM ALM FG

No.

9 7

8 10 11 12 15 14

Shell

Model Length (L) Outer diameter of cable Approx. weight

XW2Z-100J-B19 1 m 8 dia. 0.1 kg XW2Z-200J-B19 2 m 0.2 kg

29.5

t=12.7

6 L

XW2B-20G4 XW2B-20G5 XW2D-20G6

R7D-Z@

Connector terminal block end

Servo Drive en

Page 90

Wiring Section 3-4

Wiring

Connector at Connector Terminal Block

Connector Socket: XG4M-2030

Strain Relief: XG4T-5004 Cable: AWG28-10P UL20276 Connector at Servo Drive

Connector Plug: 10114-3000PE (Sumitomo 3M)

Connector Case: 10314-52A0-008 (Sumitomo 3M)

Connector-Terminal Conversion Units

The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block Cable (XW2Z-@J-B15/B16/B19/B33) to convert the control I/O connector (CN1) of a G-series Servo Drive, W-series Servo Drive, or SMARTSTEP Junior Servo Drive to a terminal block.

XW2B-20G4

The XW2B-20G4 is an M3 Screw Terminal Block.

11 22 33 44 55 66 77 88 99

10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20

+24VIN

EXT1

DEC NOT POT

STOP

0GND

BKIR

/ALM

1 2 3 4 8

9 10 11

7 13 14 12

No.No.No.

+24VIN

EXT1

DEC NOT POT

STOP

0GND

BKIR

/ALM

Terminal Block

Connector

Servo Drive end

Signal

Wire code/Mark color

Signal

Blue/Red (−)

Shield

Shell Shield

Pink/Red (−) Pink/Black (−) Green/Red (−) Green/Black (−) Orange/Red (−) Orange/Black (−) Grey/Red (−) Grey/Black (−) Blue/Red (− −) Blue/Black (− −) Pink/Red (− −) Pink/Black (− −) Green/Red (− −)

Page 91

Wiring Section 3-4

Dimensions

Note (1) Use 0.30 to 1.25 mm2 wire (AWG22 to AWG16).

(2) The wire inlet is 1.8 mm (height) × 2.5 mm (width). (3) Strip the insulation from the end of the wire for 6 mm as shown below.

XW2B-20G5

The XW2B-20G5 is an M3.5 Screw Terminal Block.

Dimensions

• Terminal block pitch: 8.5 mm

3.5

67.5

15.5

3.5

29.5

5.08

20.5

38.1

(45.3)

Terminal Block

Flat cable connector (MIL plug)

Two,

3.5-dia.

6 mm

112.5

Two, 3.5-dia.

3.5

8.5

7.3

3.5

29.5 45

15.5

43.5

20.5

(45.3)

Flat cable connector (MIL connector)

Terminal block

Page 92

Wiring Section 3-4

Note (1) When using crimp terminals, use crimp terminals with the following di-

mensions.

(2) When connecting wires and crimp terminals to a terminal block, tighten

them with a tightening torque of 0.59 N·m.

XW2D-20G6

The XW2D-20G6 is an M3 Screw Terminal Block.

Dimensions

Note (1) When using crimp terminals, use crimp terminals with the following di-

mensions.

Applicable Crimp Terminals Applicable Wires

Round Crimp Te r mi n al s

1.25-3 AWG22-16 (0.3 to 1.25 mm2)

2-3.5 AWG16-14

(1.25 to 2.0 mm2)

Fork Terminals 1.25Y-3 AWG22-16

(0.3 to 1.25 mm2)

2-3.5 AWG16-14

(1.25 to 2.0 mm

)

6.8 mm max.

3.7 mm

6.8 mm max.

3.2-mm dia.

Round Crimp Terminals

Fork Terminals

A1 A2 A3 A4 A5 A6 A7 A8 A9 A10

B1 B2 B3 B4 B5 B 6 B7 B

8 B9

B10

Two, 4.5-dia.

(39.1)

17.6

(4.5)

Page 93

Wiring Section 3-4

(2) When connecting wires and crimp terminals to a terminal block, tighten

them with a tightening torque of 0.7 N·m.

The following diagrams show typical connections between a host device and Servo Drives using a MECHATROLINK-II communications cable.

■ G-series Servo Drives

Terminal Block Wiring Example (Same for XW2B-20G4, XW2B-20G5, and XW2D-20G6)

Note (1) Absolute encoder backup battery 3.6 to 4.5 V

(2) The XB contacts are used to turn ON/OFF the electromagnetic brake. (3) Assign BKIR (brake interlock) to CN1-36 pin to use. (4) The absolute encoder backup battery is not required when using a Ser-

vomotor with an incremental encoder.

(5) Connect the absolute encoder backup battery to only one of either the

connector terminal block or absolute encoder backup battery cable.

(6) Use cable clips with double-sided adhesive tape to secure the absolute

encoder backup battery in place.

Applicable Crimp Terminals Applicable Wires

Round Crimp Te r mi n al s

1.25-3 AWG22-16 (0.3 to 1.25 mm2)

Fork Terminals 1.25Y-3 AWG22-16

(0.3 to 1.25 mm2)

5.8 mm max.

3.2-mm dia.

3.2 mm

5.8 mm max.

Round Crimp Terminals

Fork Terminals

STOP POT EXT1 EXT3 BAT

OUTM1

/ALM

DEC EXT2

BAT

COM

NOT

OUTM1

COM

ALM

COM

X1 XB

+24 V

24 VDC

+24 V +24 V

0 V

(See note 3.)

(See note 2.)

(See note

1.)

Page 94

Wiring Section 3-4

■ W-series Servo Drives

Terminal Block Wiring Example (Same for All Models; with Standard Settings for I/O Allocations)

Note (1) Absolute Encoder Backup Battery: 2.8 to 4.5 V

When using a motor with an absolute encoder, connect a backup battery to one of the following: The Servo Drive for the R88D-WT@, the battery cable for the R88D-WN@-ML2, or the Connector Terminal Block.

(2) Do not connect anything to unused terminals.

Terminal Block Wiring Example (XW2B-20G4, XW2B-20G5, and XW2D20G6)

Note (1) Use a maximum of 300 mA total for the 24-VDC inputs.

(2) Do not use inputs other than sensor inputs.

X X

Not used

24 VDC

+24 V +24 V +24 V

0 V

0 V 0 V

DEC

24 VDC

NOT

POT

EXT1 EXT3

BAT

BKIR ALM

EXT2

BAT GND

BKIR COM

ALM COM

+24 V

24 VDC 24 VDC

220

+24 V +24 V EXT1

NOT

0 V0 V

0 V

POTDEC

STOP

BKIR ALM

0GND

Page 95

Wiring Section 3-4

Terminal Block Signal Names

Wiring Precautions The electronic control devices may malfunction due to noise from nearby

power supply lines, external loads, or other sources. Malfunctions caused by noise can be troublesome because it can be difficult

to recreate the situation and to identify the noise source. Use the following methods to eliminate malfunctions due to noise and improve

the system's reliability.

• When selecting wiring components, use wires or cables that meet or exceed the specifications listed in the Servo Drive User's Manual.

• Wire the control lines (communications lines, external I/O signal lines, etc.) separately from the power lines (AC power supply lines and motor power lines). Do not wire these lines together in the same duct or bundle them together.

• Use shielded cables for the control lines.

• Use the specified special cables to connect the PCU and Servo Drives.

• Always connect surge suppressors to nearby inductive loads (relays or solenoids).

Terminal Block

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18 19 20

+24VIN

EXT1

DEC NOT POT

STOP 0GND

BKIR

/ALM

Shield

No.

Signal

DC relay

−

Surge suppresso

AC relay

Surge suppressor

(Example: Okaya Electric CR-50500 or equivalent)

Solenoid

SOL

Surgesuppressing diode

Page 96

Wiring Section 3-4

Note Connect surge-suppressing diodes or surge suppressors close to relays. Use

surge-suppressing diodes with a dielectric strength of at least 5 times the circuit voltage.

• Noise may be transferred through the power line if there is nearby equipment that generates high-frequency noise or the power supply is shared with equipment such as an electric welder or electric discharge equipment. In this case, insert a noise filter in the power supply input line.

• Connect to a ground of 100

Ω or less and use the thickest possible wire,

greater than 1.25 mm

• Twisted-pair cable is recommended for power lines.

Page 97

Wiring Section 3-4

Page 98

SECTION 4

Data Areas

This section provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocations.

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

4-2 Data Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4-3-1 Common Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4-3-2 Common Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-4-1 Axis Parameters Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

4-4-2 Axis Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

4-5-1 G-series Servo Drive (R88D-GN@-ML2 with Built-in

MECHATROLINK-II Communications) . . . . . . . . . . . . . . . . . . . . . 100

4-5-2 W-series Servo Drives (R88D-WT@ with JUSP-NS115) . . . . . . . . 117

4-5-3 W-series Servo Drive (R88D-WN@-ML2 with Built-in

MECHATROLINK-II Communications) . . . . . . . . . . . . . . . . . . . . . 136

4-5-4 SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-in

MECHATROLINK-II Communications) . . . . . . . . . . . . . . . . . . . . . 159

4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

4-6-1 Common Operating Memory Area Overview . . . . . . . . . . . . . . . . . 164

4-6-2 Common Operating Memory Area Words . . . . . . . . . . . . . . . . . . . . 166

4-7 Axis Operating Output Memory Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

4-7-1 Axis Operating Output Memory Area Overview . . . . . . . . . . . . . . . 170

4-7-2 Axis Operating Output Memory Area Allocations. . . . . . . . . . . . . . 171

4-7-3 Axis Operating Output Memory Area Priority. . . . . . . . . . . . . . . . . 175

4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

4-8-1 Axis Operating Input Memory Area Overview . . . . . . . . . . . . . . . . 179

4-8-2 Axis Operating Input Memory Area Allocations . . . . . . . . . . . . . . . 180

4-8-3 Axis Control Status Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

4-8-4 Servo Status Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

4-8-5 External I/O Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

4-8-6 Expanded Monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

Page 99

Overall Structure Section 4-1

4-1 Overall Structure

The PCU is used by exchanging data with the CPU Unit as shown in the following diagram.

PCU's Internal Memory

CPU Bus Unit Area

User-specified words

(Input)

(Output)

PCUCPU Unit

Status/Data

Result

Settings

Commands

Servo Drive

Status

Axis parameters

Flash memory

Save data

Common Operating Memory Area

I/O refresh

Axis Operating Memory Areas

(Input)

(Output)

Servo parameter transfer data

Data transfer

User-specified words (for data transfer)

Common parameter area

Axis parameter area

Common parameters

Operating commands

Status

Operating commands

Communications cycle

Status

Servo Parameters (RAM)

Servo parameters (non-volatile memory)

Command execution

Page 100

Overall Structure Section 4-1

The data handled by the PCU can be classified into the following six types.

Using these data/parameter settings, the PCU executes operation (1) using the operation settings specified in the common parameters, axis parameters, and Servo parameters (2) based on operating commands received from the Axis Operating Memory Areas.

The common parameters, axis parameters, and certain Servo parameters are the basic settings for the PCU and the axes to be controlled. Therefore, these settings must be set when using the PCU. Make the settings for other data/ parameters according to the kind of operation required.

Data name Contents Setting area Enable timing

Common Parameter Area

This area contains the parameters for basic setting of PCU operation, such as allocation of the Axis Operating Memory Areas and MECHATROLINK communications.

The common parameters must be set to use the PCU.

PCU's internal memory (The parameter settings can be saved in the PCU's flash memory.)

The settings saved in the PCU are enabled when read to the PCU internal memory at power ON or restart.

Axis Parameter Areas

These areas contain the parameters for axis control settings, such as the origin input signal selection and origin search method.

PCU's internal memory (The parameter settings can be saved in the PCU's flash memory.)

The settings saved in the PCU are read to the PCU internal memory at power ON or restart.

When the settings are written, they are refreshed immediately and are enabled after they have been written.

Servo Parameter Area

These parameters are for setting Servo Drive operation.

Servo Drive's internal memory (The parameter settings can be saved in the Servo Drive's internal non-volatile memory.)

Online Servo Parameters are enabled as soon as they are written, and offline Servo parameters are enabled after the Servo Drive power is turned OFF and ON again, or after executing DEVICE SETUP.

Common Operating Memory Area

This area is for settings for common PCU operations, such as communications control and transferring common parameters. The status of these operations is also input to this area.

CPU Unit's CPU Bus Unit Area

Data is updated with every I/O refresh of the CPU Unit.

The set data is enabled and used with the startup of each operation.

Axis Operating Output Memory Areas

These areas are for settings and operations of axis operation, such as positioning/speed commands and operating commands for direct operation, origin search, and jogging.

CPU Unit's memory area set in the common parameters.

Data is updated with every I/O refresh of the CPU Unit.

The set data is enabled and used with the startup of each operation.

Axis Operating Input Memory Areas

These areas are used to input status information for axis operations, such as present position and axis operation status.

CPU Unit's memory area set in the common parameters.

Data is updated with every I/O refresh of the CPU Unit.

Omron CS1W-NC471, CJ1W-NCF71-MA, CS1W-NCF71 Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual