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
Personal computer software: CX-One
CS1 series
Position control unit
CS1W-NCF71
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MECHATROLINK-II |
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16 axes max. |
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SGDH- |
SERVOPACK |
Sigma-II |
NS115 |
SGDH- |
SERVOPACK |
NS115 |
SGDH- |
SERVOPACK |
NS115 |
SGDH- |
SERVOPACK |
NS115 |
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Ver. |
200V |
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Ver. |
200V S |
Ver. |
200V S |
Ver. |
200V S |
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series |
S |
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W |
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W |
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W |
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1 |
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A |
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A |
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A |
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W |
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1 |
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1 |
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1 |
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Servo Drive |
A |
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R |
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R |
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R |
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W |
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2 |
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2 |
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2 |
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R |
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S |
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S |
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S |
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S |
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W |
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W |
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W |
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2 |
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Input |
CN3 |
CN3 |
C |
CN3 |
C |
CN3 |
C |
C |
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N |
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N |
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N |
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6 |
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6 |
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6 |
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N6 |
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A |
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A |
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A |
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A |
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CN1 |
CN1 |
CN1 |
CN1 |
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C |
C |
C |
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C |
N |
N |
N |
Terminator |
B |
6 |
6 |
6 |
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N |
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6 |
B |
B |
B |
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Limit switches contact sensors
CN2 |
JUSP-NS115
C
N
4 MECHATROLINK-II 
unit
C N 4
CN2
C N 4
CN2
CN2 |
C N 4
Sigma-II series Linear Motor
Sigma-II series Servo Motor
Position control unit |
35 |
Specifications
Position control unit
Model |
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CS1W-NCF71 |
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Classification |
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CS-series CPU bus unit |
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Applicable PLCs |
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CS-series |
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CS-series (V. 3.0 or later if use of function blocks is needed) |
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Possible unit number settings |
0 to F |
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Control method |
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MECHATROLINK-II (position, speed and torque control ) |
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Controlled devices |
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Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface |
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Controlled axes |
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16 maximum |
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I/O allocations |
Common operating memory area |
Words allocated in CPU bus unit area: 25 words (15 output words, 10 input words) |
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Axis operating memory area |
Allocated in one of the following areas (user-specified): |
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CIO, Work, Auxiliary, Holding, DM, or EM Area. |
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Number of words allocated: 50 words (25 output words, 25 input words) × highest axis No. used |
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Control units |
Position command unit |
Command unit: Depends on the electronic gear setting in the servo parameters. |
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Default setting: Pulses |
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Speed command unit for position control |
Command units/s |
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Acceleration/deceleration speeds for |
10,000 command units/s2 |
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position control |
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Speed command unit for speed control |
0.001% of the motor's maximum speed |
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Torque command unit for torque control |
0.001% of the motor's maximum torque |
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Control command |
Position command range |
-2,147,483,648 to 2,147,483,647 (command units) |
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range |
Speed command range for position control |
0 to 2,147,483,647 (command units/s) |
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Acceleration/deceleration speeds for |
1 to 65,535 (10,000 command units/s2) |
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position control |
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Speed command range for speed control |
-199.999% to 199.999% |
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The upper limit is restricted by the maximum speed of the servo motor. |
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Torque command range for torque control |
-199.999% to 199.999% |
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The upper limit is restricted by the maximum torque of the servo motor. |
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Control functions |
Servo lock/unlock |
Locks and unlocks the servo driver. |
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Position control |
Positions to an absolute position or relative position according to the specified target position and tar- |
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get speed specified from the ladder program. |
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Origin determination |
• Origin search: Establishes the origin using the specified search method. |
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• Present position preset: Changes the present position to a specified position to establish the origin. |
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• Origin return: Returns the axis from any position to the established origin. |
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• Absolute encoder origin: Establishes the origin using a Servomotor that has an absolute encoder, |
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without having to use an origin search. |
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Jogging |
Outputs a fixed speed in the CW or CCW direction. |
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Interrupt feeding |
Performs positioning by moving the axis a fixed amount when an external interrupt input is received |
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while the axis is moving. |
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Speed control |
Performs speed control by sending a command to the servo driver speed loop. |
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Torque control |
Performs torque control by sending a command to the servo driver current loop. |
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Stop functions |
• Deceleration stop: Decelerates the moving axis to a stop. |
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• Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation |
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counter and then stops the axis. |
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Linear interpolation |
Up to 8 axes can be interpolated by using two interpolators (4 axes per interpolator) |
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Available in unit version 1.1 or higher |
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Auxiliary functions |
Acceleration/deceleration curves |
Sets either a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average). |
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Torque limit |
Restricts the torque upper limit during position control. |
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Override |
Multiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67% |
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Servo parameter transfer |
Reads and writes the servo driver parameters from the ladder program in the CPU unit. |
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Monitoring function |
Monitors the control status of the servo driver's command coordinate positions, feedback position, |
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current speed, torque, etc. |
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Software limits |
Limits software operation for controlling positioning. |
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Backlash compensation |
Compensates for the amount of play in the mechanical system according to a set value. |
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External I/O |
Position control unit |
One MECHATROLINK-II interface port |
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Servo driver I/O |
CW/CCW limit inputs, origin proximity inputs, external interrupt inputs 1 to 3 |
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(can be used as external origin inputs) |
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Programming |
Standard ladder |
Directly over NCF unit memory area |
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methods |
Function blocks |
Using standard PLC open function blocks |
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Smart active parts |
Use of OMRON HMIs smart active parts optimizes CPU usage and engineering time |
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Internal current consumption |
360 mA or less for 5 VDC |
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Weight |
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188 g |
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36 |
Motion controllers |
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