Omron NCF71, MECHATROLINK-II CS1W-NC271, MECHATROLINK-II CS1W-NC471, MECHATROLINK-II CS1W-NCF71 System Configuration Manual

CS1W-NC271/471/F71 - MECHATROLINK-II

Position control unit

Multi-axis point-to-point positioning controller
over MECHATROLINK-II motion bus

• Position control units with 2, 4 or 16 axes.

• High-speed bus MECHATROLINK-II is specially
designed for motion control.

• Supports position, speed and torque control.

• Programming languages: ladder, function blocks.
Supports PLC Open 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

Motion controllers

Accurax G5 series
Servo motors

CS1 series
Position control unit

CS1W-NC_71

Accurax G5 series
Servo drive

MECHATROLINK-II

Input

Fast registration
inputs, home and
limits switches...

Personal computer
software: CX-One

2...16 axes max.

G- Series
Servo drive

AC SERVO DRIVER

ADR

1

1

0

0

9

2

2

8

3

3

7

4

6

5

X10

X1

COM

SP
IM

G

Terminator

G-Series
Servo motors

39Position control unit

Specifications

Position control unit

Model CS1W-NC271 CS1W-NC471 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 Accurax G5 and G-Series servo drives with MECHATROLINK-II built-in
Controlled axes 2 maximum 4 maximum 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

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

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)
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%

Position control Positions to an absolute position or relative p ositi on acco rding to the specified target posit ion 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 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.

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 drive parameters from the ladder program in the CPU unit.
Monitoring function Monitors the control status of the servo drive'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.
Deviation counter reset The position deviation in the servo drive’s deviation counter can be reset to 0 (unit version 1.3 or later).

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

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

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)

2

Internal current consumption 360 mA or less at 5 VDC
Weight 188 g

Smart active parts Use of OMRON HMIs smart active parts optimizes CPU usage and engineering time

40 Motion controllers