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
ModelCS1W-NCF71
ClassificationCS-series CPU bus unit
Applicable PLCsCS-series
Possible unit number settings 0 to F
Control methodMECHATROLINK-II (position, speed and torque control )
Controlled devicesSigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface
Controlled axes16 maximum
I/O allocationsCommon operating memory area Words allocated in CPU bus unit area: 25 words (15 output words, 10 input words)
Control unitsPosition command unitCommand 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 controlCommand units/s
Acceleration/deceleration speeds for
position control
Speed command unit for speed control0.001% of the motor's maximum speed
Torque command unit for torque control0.001% 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/unlockLocks and unlocks the servo driver.
Auxiliary functions Acceleration/deceleration curvesSets either a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average).
External I/OPosition control unitOne MECHATROLINK-II interface port
Programming
methods
Position controlPositions 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.
JoggingOutputs a fixed speed in the CW or CCW direction.
Interrupt feedingPerforms positioning by moving the axis a fixed amount when an external interrupt input is received
Speed controlPerforms speed control by sending a command to the servo driver speed loop.
Torque controlPerforms torque control by sending a command to the servo driver current loop.
Stop functions• Deceleration stop: Decelerates the moving axis to a stop.
Linear interpolationUp to 8 axes can be interpolated by using two interpolators (4 axes per interpolator)
Torque limitRestricts the torque upper limit during position control.
OverrideMultiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67%
Servo parameter transferReads and writes the servo driver parameters from the ladder program in the CPU unit.
Monitoring functionMonitors the control status of the servo driver's command coordinate positions, feedback position,
Software limitsLimits software operation for controlling positioning.
Backlash compensationCompensates for the amount of play in the mechanical system according to a set value.
Standard ladderDirectly over NCF unit memory area
Function blocksUsing 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 consumption360 mA or less for 5 VDC
Weight 188 g
Smart active partsUse of OMRON HMIs smart active parts optimizes CPU usage and engineering time
36Motion controllers
JUSP-NS115 - MECHATROLINK-II interface unit
ItemDetails
TypeJUSP-NS115
Applicable servo driveSGDH-E models (version 38 or later)
Installation methodMounted on the SGDH servo drive side: CN10.
Basic
specifications
MECHATROLINK-II
communications
Command formatOperation specificationPositioning using MECHATROLINK-I/II communications.
Position control
functions
Fully closed
system
specifications
Input signals in the
servo drive
Internal functionsPosition data latch functionPosition data latching is possible using phase C, and external signals 1, 2, 3
Power supply methodSupplied from the servo drive control power supply.
Power consumption2 W
Baud rate / transmission cycle10 MHz / 0.5 ms or more. MECHATROLINK-II communications
Reference inputMECHATROLINK-I/II communications
Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve
Fully closed controlPosition 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
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 unit37
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
100.56.2
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
38Motion 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
NameModel
MECHATROLINK-II position controller unitCS1W-NCF71
MECHATROLINK-II related devices
NameRemarksModel
MECHATROLINK-II
interface unit
MECHATROLINK-II
terminator
MECHATROLINK-II
cables
Servo system
Note: Refer to servo systems section for more information.
Computer software
SpecificationsModel
CX-One version 1.1 or higherCX-ONE
For Sigma-II series servo drives.
(Firmware version 38 or later)