Omron NC471, NCF71, CJ1W-NC271, CJ1W-NCF71, CJ1W-NCF71-MA OPERATION MANUAL

...

Cat. No. W426-E1-10

SYSMAC CJ1W-NC271/NC471/NCF71/ NCF71-MA CS1W-NC271/NC471/NCF71

Position Control Units

OPERATION MANUAL

CJ1W-NC271/NC471/NCF71/NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units

Operation Manual

Revised December 2009

Notice:

r f

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury. Additionally, there may be severe property damage.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury. Additionally, there may be severe property damage.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller. “PC” is used, however, in some Programming Device displays to mean Programmable Controller.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Note Indicates information of particular interest for efficient and convenient opera-

tion of the product.

1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv

5 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

SECTION 1

Features and System Configuration . . . . . . . . . . . . . . . . . . . 1

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-4 List of Functions and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

SECTION 2

Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2-1 Basic Flow of Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

2-2 Starting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3-2 Installing the Position Control Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3-3 External I/O Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

SECTION 4

Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

4-1 Overall Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

4-2 Data Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4-3 Common Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

4-4 Axis Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

4-5 Servo Parameter Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4-6 Common Operating Memory Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

4-7 Axis Operating Output Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

4-8 Axis Operating Input Memory Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

vii

TABLE OF CONTENTS

SECTION 5

Transferring and Saving Data . . . . . . . . . . . . . . . . . . . . . . . . 217

5-1 Transferring Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

5-2 Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5-3 Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

SECTION 6

MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

6-1 MECHATROLINK Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

6-2 MECHATROLINK Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

6-3 MECHATROLINK Communications Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

6-4 Standard Settings for Servo Drives Using MECHATROLINK. . . . . . . . . . . . . . . . . . . . . . . 263

SECTION 7

Position Control Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

7-2 Control Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

SECTION 8

Defining the Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

8-2 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

8-3 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

8-4 Origin Return. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

8-5 Phase Z Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

8-6 Absolute Encoder Origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .326

SECTION 9

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .338

9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .339

9-3 PCU Data Settings for Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

9-5 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

9-6 Torque Limit Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

9-7 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

viii

TABLE OF CONTENTS

SECTION 10

Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

10-1 Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

10-2 Jogging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

10-3 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

10-4 Torque Limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

10-5 Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

10-6 Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

10-7 Backlash Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405

10-8 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

10-9 Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

10-10 DEVIATION COUNTER RESET. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

SECTION 11

Sample Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

11-2 Basic Program Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .423

11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

SECTION 12

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

12-1 Overview of PCU Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

12-2 Troubleshooting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .484

12-3 LED Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485

12-4 Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

12-5 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

12-6 Error Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

12-7 CPU Unit Error Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508

SECTION 13

Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 509

13-1 Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

13-2 Inspection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

13-3 Handling Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

13-4 Procedure for Replacing a PCU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

TABLE OF CONTENTS

Appendices

A Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

B List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

C Operation Area I/O Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

D List of Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

E Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433 621

F Additional Functions for the CJ1W-NCF71-MA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657

About this Manual:

This manual describes the installation and operation of the CJ1W-NC271/NC471/NCF71/NCF71-MA and CS1W-NC271/NC471/NCF71 Position Control Units and includes the sections described below.

Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the Position Control Unit. Be sure to read the precautions provided in the following section.

Precautions provide general precautions for using the Position Control Unit, Programmable Controller, and related devices.

Section 1 introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

Section 2 provides an overview of the procedures required to use the Position Control Unit.

Section 3 provides information on nomenclature and functions, and describes the procedures required

for wiring and installation. Information on the MECHATROLINK-II I/F Unit is also provided.

Section 4 provides an overview of the parameter and data settings used in Position Control Unit operation and provides information on memory allocations.

Section 5 explains how to transfer and save parameters and data using the data transfer bits.

Section 6 provides an overview of MECHATROLINK communications, and includes information on

settings and procedures required to use MECHATROLINK with the Position Control Unit.

Section 7 provides an overview of the control system used by the Position Control Unit, including information on the control units, coordinate system, acceleration/deceleration operations, and limit input operations.

Section 8 provides information on the various operations used to determine the origin, including origin searches, origin returns, presetting the present position, calculating phase Z margins, and using the absolute encoder.

Section 9 provides an overview of direct operation and describes the parameter settings, data settings, and procedures required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.

Section 10 describes the servo lock/unlock, jogging, override, torque limits, speed control, torque control, backlash compensation, software limits, and stop functions.

Section 11 provides basic program examples and application examples for using the Position Control Unit.

Section 12 provides information on troubleshooting errors that may occur, including details on the meaning of indicator displays and error codes, and the procedures required to reset errors in the Unit or axes.

Section 13 describes methods for inspecting and maintaining the Position Control Unit and the procedure required to replace a Position Control Unit.

The Appendices provide information on the performance characteristics, lists of parameters, I/O allocations in the operation areas, lists of error codes, alarm/warning displays, and information required when changing to the CJ1W-NC271/NC471/NCF71/NCF71-MA or CS1W-NC271/NC471/NCF71 from a CJ1W/CS1W-NC113/133/213/233/413/433 Position Control Unit.

!WARNING Failure to read and understand the information provided in this manual may result in per-

sonal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

Unit Versions of Position Control Units

Unit Versions A “unit version” has been introduced to manage Position Control Units accord-

ing to differences in functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

CJ1W-NCF71

NCF71

MLK

RUN ERC ERH ERM

UNIT

No.

MLK

Confirming Unit Versions with Support Software

The unit version is given to the right of the lot number on the nameplate of the products for which unit versions are being managed, as shown below.

Product nameplate

CJ1W-NCF71

NC UNIT

Unit version Example for unit version 1.0

Lot No. 040401 0000 Ver.1.0

OMRON Corporation MADE IN JAPAN

The unit version of Position Control Units starts with unit version 1.0.

CX-Programmer version 4.0 can be used to confirm the unit version using the Unit Manufacturing Information.

In the IO Table Window, right-click the Position Control Unit and select Unit

Manufacturing information.

The following Unit Manufacturing information Dialog Box will be displayed.

Unit version

The unit version is displayed as 1.0 in the Unit Version Number field of the above example. Use the above display to confirm the unit version of the Unit connected online.

Using Unit Version Label A unit version label is provided with the Position Control Unit. This label can

be attached to the front of the Position Control Unit to differentiate between Position Control Units with different unit versions.

xii

Functions Supported According to Position Control Unit Versions

Model CJ1W-NC@71/CS1W-NC@71

Unit Ver. 1.0 Unit Ver. 1.1 Unit Ver. 1.2 Unit Ver. 1.3 Unit Ver. 2.0 Unit Ver. 2.1

Linear interpolation --- Supported. Supported. Supported. Supported. Supported. Absolute encoder setup function --- --- Supported. Supported. Supported. Supported. Deviation counter reset --- --- --- Supported. Supported. Supported. Establishing connections even

when there are unconnected axes or axes with alarms that cannot be cleared

Transferring servo parameters even when there is an axis error

Creating servo locks during software limit detection when an absolute encoder is used

Driver main circuit OFF error detection only when the servo is locked

Using Holding Area address H512 and onwards for function block address allocations

Addition of supported models: SMARTSTEP Junior Servo Drives (R7D-ZN@-ML2)

Addition of rejoin function --- --- --- --- Supported. Supported. Eliminating connection restric-

tion when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

Addition of origin search operation modes

Addition of origin search preset function

Faster setting for transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search

--- --- --- Supported. Supported. Supported.

--- --- --- --- Supported. Supported.

--- --- --- --- --- Supported.

xiii

Upgrades Made According to Unit Versions of the Position Control Unit

Unit Version 1.0 to Unit Version 1.1

Functional upgrade Unit version 1.0 Unit version 1.1

Addition of linear interpolation function

Linear interpolation cannot be used.

Linear interpolation can be performed for positioning operations combining one or more axes.

Linear interpolation can performed for up to four axes each of axes 1 to 4 and axes 5 to 8 for Servo Drive axes connected to the Position Control Unit. (Refer to 9-7 Linear Inter- polation.)

Unit Version 1.1 to Unit Version 1.2

Functional upgrade Unit version 1.1 Unit version 1.2

Addition of setup function for absolute encoders

An absolute encoder must be set up the first time it is used, when the rotation data is initialized to 0, or when the absolute encoder is left for a long period of time without the battery connected.

With Position Control Units with unit version 1.1 or earlier, the following operation is used to set up the absolute encoder.

• Special software (personal computer monitoring software) must be connected to the Servo Drive to perform the setup operation.

With Position Control Units with unit version

1.2 or later, the following operation can be used to set up the absolute encoder.

• Special software (personal computer monitoring software) can be connected to the Servo Drive to perform the setup operation.

• When the Position Control Unit is used with a CPU Unit with unit version 3.0 or later, the absolute encoder can be set up from the program by using a function block from the OMRON FB Library.

• The absolute encoder can be set up from the CX-Motion-NCF. (Refer to 8-6-4 Absolute Encoder Setup.)

Unit Version 1.2 to Unit Version 1.3

Functional upgrade Unit version 1.2 Unit version 1.3

Addition of deviation counter reset function

The deviation counter in the Servo Drive cannot be reset from the Position Control Unit during position control operations.

The deviation counter in the Servo Drive can be reset from the Position Control Unit during position control operations.

To deviation reset function in the Position Control Unit works by sending a movement command in the opposite direction and of the same size as the current position deviation so that the current command position equals the current feedback position.

(Refer to 10-10 DEVIATION COUNTER RESET.)

xiv

Functional upgrade Unit version 1.2 Unit version 1.3

Establishing connections when there are unconnected axes or axes with alarms that cannot be cleared

Transferring parameters when there are axis errors

Locking the servo when a software limit is being detected for a Motor with an absolute encoder

If any of the axes registered in the scan list are not connected, have the control power supply interrupted, or have an alarm that can be reset only by cycling the power supply, an MLK initialization error (Unit error code 0020 (hex) will occur after the connections are established and operations using MECHATROLINK communications will not be possible any axes, including those without errors.

To start MECHATROLINK communications normally, all errors must be cleared for all axes registered in the scan list before connections can be established.

Servo parameters cannot be transferred (i.e., written, read, or saved) for axes with errors. The errors must first be reset to clear the axis error status before Servo parameters can be transferred.

If an attempt is made to lock the Servo when an absolute encoder is used, the software limits are enabled, and the present position is within the software limit area, a software limit error will occur and the Servo lock operation will be canceled.

To lock the Servo in the above situation, the software limit must first be disabled.

Axis operations using MECHATROLINK communications are possible for any axes registered in the scan list and for which MECHATROLINK communications have been started (see note) regardless of whether there are Servo Drive alarms.

If there are any axes with alarms, they will be indicated by the Error Flags and error code in the Axis Operating Input Memory Areas.

If there are alarms in the Servo Drive that can be cleared only by recycling the power, they will be detected as Unit errors (MLK initialization errors) for Units with unit version 1.1 or earlier, but they will be detected in the individual axis areas.

Note If R88D-WN@-ML2 W-series Servo

Drives (Models with Built-in MECHATROLINK-II Communications) are connected, an encoder communications error (A.C9@) will occur in the Servo Drive and it will not be possible to start MECHATROLINK communications for Units with unit version 1.3 or earlier.

(Refer to 6-3-2 MECHATROLINK Communi- cations Status.) Servo parameters can be transferred (i.e., written, read, or saved) for axes with errors. If the axis error already exists, it will not be overwritten even if an error occurs during parameter transfer.

If Servo parameters are written when there is an axis error, be sure to confirm that the parameters were transferred correctly.

(Refer to 5-3 Transferring Servo Parameters.) The Servo can be locked at any position, regardless of the type of encoder and the software limit settings.

(Refer to 10-8-4 Software Limit Operation.)

Functional upgrade Unit version 1.2 Unit version 1.3

Detecting driver main circuit OFF errors only when the Servo is locked

Allocating holding addresses H512 and higher as function block addresses

Servo Drive main circuit OFF errors are detected regardless of whether the Servo is locked for the axis. Once a Servo Drive main circuit OFF error is detected, it will continue to be detected even if the error is reset until the main circuit power supply is restored.

The function blocks in the OMRON FB Library for the Position Control Unit cannot be used if H512 (default setting) or higher are allocated for non-holding areas of function block addresses.

If H512 or higher are allocated, a function block error will occur when the function block is executed.

The CX-Programmer must be used to change the setting to other unused words (e.g., in the DM or EM Area).

Servo Drive main circuit OFF errors are detected only when the Servo is locked for the axis.

The Position Control Unit will automatically unlock the Servo when a Servo Drive main circuit OFF error is detected, allowing the error to be cleared even while the main circuit power supply is interrupted.

If an attempt is made to lock the Servo while the main circuit power supply is interrupted, a Servo Drive main circuit OFF error will be detected again.

(Refer to 12-4-2 List of Error Codes.) The function blocks in the OMRON FB Library for the Position Control Unit can be used if H512 (default setting) or higher are allocated for non-holding areas of function block addresses.

Unit Version 1.3 to Unit Version 2.0

Functional upgrade Unit version 1.3 Unit version 2.0

Addition of applicable models

Applicable Models

•R88D-WT@W-series Servo Drives (with

FNY-NS115 MECHATROLINK-II I/F Unit mounted)

•R88D-WN@-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II Communications)

Applicable Models

•R88D-WT@W-series Servo Drives (with

FNY-NS115 MECHATROLINK-II I/F Unit mounted)

•R88D-WN@-ML2 W-series Servo Drives

(Models with Built-in MECHATROLINK-II Communications)

•R7D-ZN@-ML2 SMARTSTEP Junior Servo

Drive (Models with Built-in MECHATROLINK-II Communications)

xvi

Functional upgrade Unit version 1.3 Unit version 2.0

Addition of rejoin function MECHATROLINK communications are

started and stopped at the same time for all axes registered in the scan list.

The following functions are supported in addition to starting and stopping MECHATROLINK communications for all axes at the same time.

• Rejoin Function An axis for which communications have been stopped, e.g., due to a communications error, can be restarted without stopping communications for the other axes. (Refer to 6-3-4 Rejoining the Connection.)

• Setting the Axes to Be Connected Axes registered in the scan list can be set temporarily so that they are not registered. The axes can be set so that they are temporarily not used without resetting the scan list. Operations can be performed without errors occurring for these axes. (Refer to 6-3-5 Specifying the Axes to Con- nect.)

The Axis Communications Status Flags have also been changed for the above functions. Refer to the note following this table for

details. Eliminating connection restriction when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs)

If an encoder communications error (A.C90) occurs for a R88D-WN@-ML2 Wseries Servo Drive (Model with Built-in MECHATROLINK-II Communications),

MECHATROLINK communications can be

started under the conditions given at the left,

and operations, such as transferring Servo

Parameters, can be performed.

MECHATROLINK communications cannot

be started with that Servo Drive. Addition of origin search operation modes

Three origin search operation pattern are

possible by combining the following set-

tings:

• Origin search operations: 3 settings (Reversal modes 1 and 2, and Singledirection mode)

• Origin detection method: 1 setting (With origin proximity input signal reversal)

Eleven origin search operation pattern are possible by combining the following settings:

• Origin search operations: 4 settings (Reversal modes 1, 2, and 3, and Singledirection mode)

• Origin detection methods: 3 settings (With origin proximity input signal reversal, Without origin proximity input signal reversal, Not use origin proximity input signal)

Origin

detection

method

With origin proximity input signal reversal

Without origin proximity input signal reversal

Not use origin proximity input signal

Combinations supported by unit version 1.3 or earlie

Combinations supported by unit version 2.0 or later

Note: Origin search operation patterns supported by

absolute encoders.

Origin search operation

Reversal

mode 1

(See note.)

(Refer to 8-2-4 Origin Search Operation.)

Reversal

mode 2

Single-

direction

mode

Reversal

mode 3

xvii

Functional upgrade Unit version 1.3 Unit version 2.0

Addition of origin search preset function

The preset function cannot be used during origin searches.

The preset function can be used during origin searches.

For any of the origin search operations the present position can be automatically set to any specified value at the end of the origin search. When using reversal mode 1 and an absolute encoder, an offset can also be set for the absolute origin.

(Refer to 8-2-6 Origin Search Preset and 8-6- 2 Absolute Encoder Operating Procedure.)

Note Changes in Axis Communications Status Flags

The conditions for setting and resetting the Axis Communications Status Flags in word n+22 of the Common Operating Memory Area have been changed accompanying the addition of the rejoin function. New conditions are underlined in the following table.

Functional upgrade Unit version 1.3 or earlier Unit version 2.0 or later

Setting conditions • The flags will turn ON when connections

are made for the axes registered in the scan list and MECHATROLINK communications start.

Resetting conditions • The flags will remain OFF when MECHA-

TROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will turn ON when connections are made for the axes registered in the scan list and MECHATROLINK communications start.

• The flag will turn ON when the rejoin function is used to start MECHATROLINK communications for an axis registered in the scan list.

• The flags will remain OFF when MECHATROLINK communications cannot be started when connections are made for the axes registered in the scan list.

• The flags will turn OFF if MECHATROLINK communications stop because the axis is disconnected.

• The flags will turn OFF if a Unit error occurs that requires disconnection.

• The flags will turn OFF whenever a communications error occurs after MECHATROLINK communications have been started for the axis.

With unit version 1.3 or earlier, once MECHATROLINK communications have been started by establishing connections, the Axis Communications Status Flags will not change unless communications are disconnected (including Unit errors that required disconnection).

With unit version 2.0 or later, the Axis Communications Status Flags will turn OFF after connections have been established whenever axis operation becomes impossible due to a communications error (synchronous communications alarm or communications alarm).

Unit Version 2.0 to Unit Version 2.1

Functional upgrade Unit version 2.0 Unit version 2.1

Faster setting of transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search

A longer communications cycle must be set using the settings given in a separate table when the absolute encoder PG zero point position offset is set with an origin search.

The same communications cycle can be set regardless of whether the absolute encoder PG zero point position offset is set with an origin search.

xviii

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

xix

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

xxi

xxii

PRECAUTIONS

This section provides general precautions for using the Position Control Unit and related devices.

The information contained in this section is important for the safe and reliable application of Position Control Units. You must read this section and understand the information contained before attempting to set up or operate a Position Control Unit.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

4 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv

5 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxvi

6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-3 Conformance to EC Directives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

6-4 Installation within Control Panels . . . . . . . . . . . . . . . . . . . . . . . . . . xxviii

xxiii

Intended Audience 1

1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

!WARNING It is extremely important that a Position Control Units and related devices be

used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying Position Control Units and related devices to the above-mentioned applications.

3 Safety Precautions

!WARNING Do not attempt to take any Unit apart while the power is being supplied. Doing

so may result in electric shock.

!WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do

so may result in malfunction, fire, or electric shock.

!WARNING Never touch any of the terminals while power is being supplied. Doing so may

result in serious electric shock.

!WARNING Provide safety measures in external circuits (i.e., not in the Programmable

Controller or Position Control Unit) to ensure safety in the system if an abnormality occurs due to malfunction of the PLC, malfunction of the PCU (Position Control Unit), or external factors affecting the operation of the PLC or PCU. Not providing sufficient safety measures may result in serious accidents.

xxiv

Operating Environment Precautions 4

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The PLC or PCU outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• When the 24-V DC output (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• External safety measures must also be taken to ensure safety in the event of unexpected operation when connecting or disconnecting the PCU’s connectors.

!Caution Execute online editing only after confirming that no adverse effects will be

caused by extending the cycle time. Otherwise, the input signals may not be readable.

!Caution Confirm safety at the destination node before transferring a program to

another node or changing contents of the I/O memory area. Doing either of these without confirming safety may result in injury.

4 Operating Environment Precautions

!Caution Do not operate the control system in the following locations:

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in the specifications.

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

!Caution Take appropriate and sufficient countermeasures when installing systems in

the following locations:

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

xxv

Application Precautions 5

!Caution The operating environment of the PLC System can have a large effect on the

longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

5 Application Precautions

Observe the following precautions when using the PLC System.

!WARNING Always heed these precautions. Failure to abide by the following precautions

could lead to serious or possibly fatal injury.

• Always connect to a ground of 100 Ω or less when installing the Units. Not connecting to a ground of 100 Ω or less may result in electric shock.

• Always turn OFF the power supply to the PLC before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, Inner Boards, or any other Units.

• Assembling the Units.

• Setting DIP switches or rotary switches.

• Connecting cables or wiring the system.

• Connecting or disconnecting the connectors.

!Caution Failure to abide by the following precautions could lead to faulty operation of

the PLC, the PCU, or the system, or could damage the PLC or PCU. Always heed these precautions.

• Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may cause malfunction resulting in serious injury.

• Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the customer.

• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

• For CS-series PLCs, always tighten the mounting screw at the bottom of the PCU to a torque of 0.4 N⋅m.

• For CJ-series PLCs, lock the sliders securely until they click into place when connecting the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, or CPU Bus Units. Functions may not work correctly if the sliders are not locked properly.

• Always attach the End Cover provided with the CPU Unit to the Unit on the right end of the PLC. The CJ-series PLC will not operate properly if the End Cover is not attached.

xxvi

Application Precautions 5

• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable. An incorrect power supply may result in malfunction.

• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.

• Disconnect the LG (line ground) terminal and GR (ground) terminal before performing withstand voltage and insulation resistance tests.

• Confirm that set parameters and data operate properly.

• Perform wiring according to specified procedures.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may result in burning.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in unexpected operation.

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC (including setting the Startup Mode).

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• After replacing Units, resume operation only after transferring to the new CPU Unit, Special I/O Units, CPU Bus Units, and externally connected devices the contents of the DM Area, Holding Area, and other data required for resuming operation. Not doing so may result in an unexpected operation.

• Do not pull on the cables or bend the cables beyond their natural limit. Doing either of these may break the cables.

• Do not place objects on top of the cables or other wiring lines. Doing so may break the cables.

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunction or damage.

• Never turn OFF the power to the Unit while transferring data.

xxvii

Conformance to EC Directives 6

6 Conformance to EC Directives

6-1 Applicable Directives

•EMC Directives

6-2 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2 EMI (Electromagnetic Interference): EN61000-6-4

6-3 Conformance to EC Directives

The PCUs comply with EC Directives. To ensure that the machine or device in which a PCU is used complies with EC Directives, the PCU must be installed as follows:

1,2,3... 1. The PCU is defined as a in-panel device and must be installed within a

control panel.

2. Reinforced insulation or double insulation must be used for the DC power supplies used for I/O.

3. PCUs complying with EC directives also meet the common emission standard (EN61000-6-4). The measures required to ensure that the standard is met will vary with the overall configuration of the control panel, the other devices connected to the control panel, wiring, and other conditions. The customer must therefore confirm that EC directives are met for the overall machine or device, particularly for the radiated emission requirement (10 m).

6-4 Installation within Control Panels

Unnecessary clearance in cable inlet or outlet ports, operation panel mounting holes, or in the control panel door may cause electromagnetic wave leakage or interference. In this case, the product may fail to meet EC Directives. In order to prevent such interference, fill clearances in the control panel with conductive packing. (In places where conductive packing comes in contact with the control panel, ensure electrical conductivity by removing the paint coating or masking these parts when painting.)

(Radiated emission: 10-m regulations)

xxviii

SECTION 1

Features and System Configuration

This section introduces the features of the Position Control Unit, explains the system configuration in which it is used, and also provides information on basic operations, functions and specifications.

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3-1 Position Control (Direct Operation) . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3-2 Speed Control and Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-3-3 Other Operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1-4 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4-2 List of Functions and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . 6

1-5 List of Functions by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-6 Comparison with Existing Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Fe atu re s Section 1-1

1-1 Features

Position Control Unit

CJ1W-NC271/471/F71 CS1W-NC271/471/F71

Compatible with the MECHATROLINK-II Highspeed Field Network

High-speed, Highprecision Control Using Data Communications

NCF71

MLK

RUN ERC ERH ERM

UNIT

No.

MLK

NCF71

RUN ERC

UNIT No.

ERH ERM MLK

MLK

The Position Control Unit is a CS/CJ-series CPU Bus Unit. The Position Control Unit (PCU) receives commands from the CPU Unit's internal Auxiliary Area and outputs positioning commands to MECHATROLINK-II Servo Drives.

MECHATROLINK is a registered trademark of MECHATROLINK Members Association.

A MECHATROLINK-II high-speed (10 Mbps) communications interface is used to control Servo Drives for up to 16 axes with a single CS/CJ-series Unit. Shielded twisted-pair cables in daisy-chain formation make wiring simple and enable multi-axis systems that require less wiring and are smaller in size.

Optimal motor performance can be achieved by transmitting data using communications between the Programmable Controller (PLC) and Servo Drives, without having to set an upper limit for the designated speed. High-speed and high-precision position control using high-resolution motors are possible.

Position Control (Direct Operation)

Speed Control and Torque Control

Compatible with Servomotors with Absolute Encoders

Transfer Data between Host PLC and Servo Drive

Positioning can be performed simply by directly setting the target position and target speed from the CPU Unit. Positioning to either absolute or relative positions is also possible. Interrupt feeding is also supported. With interrupt feeding, positioning is continued for a specified amount after an interrupt input signal is received, and then the axis is stopped.

The Servo Drive's speed and torque can be controlled by directly specifying the target speed and torque from the CPU Unit.

The PCU is compatible with Servomotors that have absolute encoders. Using such Servomotors eliminates the need to repeatedly perform origin searches.

The Servo Drive's parameters and monitors can be set from the CPU Unit. All the data for the multi-axis system can be centrally controlled from the host PLC. This removes the difficulty in starting up devices or setting data when replacing a Unit.

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