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
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