Omron CS1W-NCF71 DATASHEET

CS1W-NCF71 - MECHATROLINK-II
Position control unit
Multi-axes position controller over high-speed MECHATROLINK-II
• Up to 16 axes controlled with minimum wiring. Only one cable between devices is needed.
• High-speed bus MECHATROLINK-II is specially designed for motion control.
• Supports position, speed and torque control.
• Programming languages: ladder, function blocks.
• Smart active parts for OMRON HMIs terminals reduce engineering time.
• Access to the complete system from one point. Net­work setup, servo drives configuring and monitoring, and PLC programming.
System configuration
Input
Limit switches contact sensors
SERVOPACK
SGDH-
Ver.
CHARGE POWER
CN3
CN1
CN2
CS1 series Position control unit
CS1W-NCF71
Sigma-II
200V
series Servo Drive
Sigma-II series Servo Motor
NS115
S W 1
A R
S W 2
C N 6 A
C N 6 B
JUSP-NS115
C N 4
MECHATROLINK-II unit
Personal computer software: CX-One
MECHATROLINK-II
SERVOPACK
SGDH-
200V
Ver.
CHARGE POWER
CN3
CN1
CN2
16 axes max.
NS115
S W 1
A R
S W 2
C N 6 A
C N 6 B
C N 4
SERVOPACK
NS115
SGDH-
Ver.
CHARGE POWER
S
200V
W 1
A R
S W 2
CN3
C N 6 A
CN1
C N 6 B
C N 4
CN2
SERVOPACK
NS115
SGDH-
Ver.
CHARGE POWER
S
200V
W 1
A R
S W 2
CN3
C N 6 A
CN1
C N 6 B
Terminator
C N 4
CN2
Sigma-II series Linear Motor
35Position control unit
Specifications
Position control unit
Model CS1W-NCF71
Classification CS-series CPU bus unit Applicable PLCs CS-series
Possible unit number settings 0 to F Control method MECHATROLINK-II (position, speed and torque control ) Controlled devices Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface Controlled axes 16 maximum I/O allocations Common operating memory area Words allocated in CPU bus unit area: 25 words (15 output words, 10 input words)
Control units Position command unit Command unit: Depends on the electronic gear setting in the servo parameters.
Control command range
Axis operating memory area Allocated in one of the following areas (user-specified):
Speed command unit for position control Command units/s Acceleration/deceleration speeds for
position control Speed command unit for speed control 0.001% of the motor's maximum speed Torque command unit for torque control 0.001% of the motor's maximum torque 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)
CS-series (V. 3.0 or later if use of function blocks is needed)
CIO, Work, Auxiliary, Holding, DM, or EM Area. Number of words allocated: 50 words (25 output words, 25 input words) × highest axis No. used
Default setting: Pulses
10,000 command units/s
2
Acceleration/deceleration speeds for position control
Speed command range for speed control -199.999% to 199.999%
Torque command range for torque control -199.999% to 199.999%
Control functions Servo lock/unlock Locks and unlocks the servo driver.
Auxiliary functions Acceleration/deceleration curves Sets either a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average).
External I/O Position control unit One MECHATROLINK-II interface port
Programming methods
Position control Positions to an absolute position or relative position according to the specified target position and tar-
Origin determination • Origin search: Establishes the origin using the specified search method.
Jogging Outputs a fixed speed in the CW or CCW direction. Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt input is received
Speed control Performs speed control by sending a command to the servo driver speed loop. Torque control Performs torque control by sending a command to the servo driver current loop. Stop functions • Deceleration stop: Decelerates the moving axis to a stop.
Linear interpolation Up to 8 axes can be interpolated by using two interpolators (4 axes per interpolator)
Torque limit Restricts the torque upper limit during position control. Override Multiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67% Servo parameter transfer Reads and writes the servo driver parameters from the ladder program in the CPU unit. Monitoring function Monitors the control status of the servo driver's command coordinate positions, feedback position,
Software limits Limits software operation for controlling positioning. Backlash compensation Compensates for the amount of play in the mechanical system according to a set value.
Servo driver I/O CW/CCW limit inputs, origin proximity inputs, external interrupt inputs 1 to 3
Standard ladder Directly over NCF unit memory area Function blocks Using standard PLC open function blocks
1 to 65,535 (10,000 command units/s2)
The upper limit is restricted by the maximum speed of the servo motor.
The upper limit is restricted by the maximum torque of the servo motor.
get speed specified from the ladder program.
• 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.
while the axis is moving.
• Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis.
Available in unit version 1.1 or higher
current speed, torque, etc.
(can be used as external origin inputs)
Internal current consumption 360 mA or less for 5 VDC Weight 188 g
Smart active parts Use of OMRON HMIs smart active parts optimizes CPU usage and engineering time
36 Motion controllers
JUSP-NS115 - MECHATROLINK-II interface unit
Item Details Type JUSP-NS115 Applicable servo drive SGDH-E models (version 38 or later) Installation method Mounted on the SGDH servo drive side: CN10. Basic
specifications MECHATROLINK-II
communications Command format Operation specification Positioning using MECHATROLINK-I/II communications.
Position control functions
Fully closed system specifications
Input signals in the servo drive
Internal functions Position data latch function Position data latching is possible using phase C, and external signals 1, 2, 3
Power supply method Supplied from the servo drive control power supply. Power consumption 2 W Baud rate / transmission cycle 10 MHz / 0.5 ms or more. MECHATROLINK-II communications
Reference input MECHATROLINK-I/II communications
Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve Fully closed control Position control with fully closed feedback is possible. Encoder pulse output in the
servo drive Fully closed encoder pulse signal A quad B line-driver Maximum receivable frequency for
servo drive Power supply for fully closed
encoder Signal allocation changes possible Forward/reverse run prohibited, zero point return deceleration LS
Protection Parameters damage, parameter setting errors, communications errors, WDT errors,
LED indicators A: Alarm, R: MECHATROLINK-I/II communicating
Commands: position, speed, torque, parameter read/write, monitor output
5 V differential line-driver output (complies with EIA standard RS-422A)
1 Mpps
To be prepared by customer.
External latch signals 1, 2, 3 Forward/reverse torque control
Fully closed encoder detecting disconnection
Nomenclature
CJ1W-NCF71 - position control unit
LED indicators
MLK - MECHATROLINK-II network status RUN - Controller in RUN ERC - Position control unit error ERH - PLC CPU unit error ERM - MECHATROLINK-II slave unit error
UNIT No. setting switch
MECHATROLINK-II communications connectors:
Connects to MECHATROLINK-II nodes
Position control unit 37
JUSP-NS115 - MECHATROLINK-II interface unit
NS115
Dimensions
CS1W-NCF71 - position control unit
34.5
Rotary switch (SW1) Used to set the MECHATROLINK-II station address
LED(A)
Alarm status
LED(R)
MECHATROLINK-II communication status
DIP switch (SW2)
Used to for MECHATROLINK-II communications setting
MECHATROLINK-II communications CN6A and CN6B connectors:
Connects to the MECHATROLINK-II system
CN4 fully closed encoder signal connector
Used for fully closed signal connection
Ground wire
Connected to groung mark on the servo drive
100.5 6.2
NCF71
RUN
ERH
ERC
ERM MLK
UNIT No.
130
MLK
JUSP-NS115 - MECHATROLINK-II interface unit
Units: mm Approx. mass: 0.2 kg
FG terminal
M4
Connector
to SERVOPACK
CN6A
CN6B
CN4
24
NS115
100
2
S W 1
A R
S W 2
C N 6 A
142
C N 6 B
C N 4
Name
plate
20
128
38 Motion controllers
Installation
MECHATROLINK-II interface connections
(For SERVOPACK connection,
CN 6A
2
/S To other MECHATROLINK-II station
120 Ω
For the terminal station, connect a terminator (JEPMC-W6022)
1
Backup battery
2.8 to 4.5 V
Zero point return Deceleration LS with /DEC ON
Forward run prohibit with P-OT OFF
Reverse run prohibit with N-OT OFF
External latch 1 with /EXT1 ON
External latch 2 with /EXT2 ON
External latch 3 with /EXT3 ON
P represents twisted-pair wires.
*
1 Connect when using an absolute encoder and when the battery is not connected to CN8.
*
2 Set the signal assignment with the user constants.
*
+24 V
*
*
*
*
2
2
2
2
P
P
BAT (+)
+
P
BAT (-)
-
+24VIN
+
-
/DEC
P-OT
N-OT
/EXT 1
/EXT 2
/EXT 3
3
S
4
SH
/S
2
S
3
SH
4
CN 6B
CN 1
21
22
47
40
41
42
43
44
45
46
represents shield.
3.3k Ω
Servo drive
Type SGDH
see sigma-II chapter)
MECHATROLINK I/F unit
Type JUSP-NS115
Connector Shell
FG
Connect shield to connector shell.
PG0V PA /PA PB /PB PC /PC
37
38
39
25
26
27 28
29 30
31 32
1
CN 4
1, 2, 3 16 17 18 19 14 15
AL 01
AL 02
AL 03
SG
/COIN+
/COIN-
/BK+
/BK-
/S-RDY+
/S-RDY-
ALM+
ALM-
Fully-closed encoder for speed/position detection
External
Power Supply
Alarm code output Maximum operating voltage 30 VDC Maximum output current 20 mADC
Positioning completed (ON when positioning is
completed)
BK output (ON when brake is
released)
Servo ready output (ON when ready)
Servo alarm output (OFF with an alarm)
Photocoupler output Maximum operating voltage 30 VDC Maximum output current 50 mADC
PG
2
*
Ordering information
Position controller unit
Name Model
MECHATROLINK-II position controller unit CS1W-NCF71
MECHATROLINK-II related devices
Name Remarks Model
MECHATROLINK-II interface unit
MECHATROLINK-II terminator
MECHATROLINK-II cables
Servo system
Note: Refer to servo systems section for more information.
Computer software
Specifications Model
CX-One version 1.1 or higher CX-ONE
For Sigma-II series servo drives. (Firmware version 38 or later)
JUSP-NS115
Terminating resistor JEPMC-W6022
0.5 meter JEPMC-W6003-A5 1 meter JEPMC-W6003-01 3 meters JEPMC-W6003-03 5 meters JEPMC-W6003-05 10 meters JEPMC-W6003-10 20 meters JEPMC-W6003-20 30 meters JEPMC-W6003-30
Position control unit 39
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I10E-EN-01
In the interest of product improvement, specifications are subject to change without notice.
40 Motion controllers
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