Omron CJ1W-NC271 - 12-2009 User manual

Cat. No. W426-E1-10
Position Control Units
SYSMAC
CJ1W-NC271/NC471/NCF71/
NCF71-MA
CS1W-NC271/NC471/NCF71
OPERATION MANUAL

CJ1W-NC271/NC471/NCF71/NCF71-MA
CS1W-NC271/NC471/NCF71
Position Control Units
Operation Manual
Revised December 2009

iv

v
Notice:
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 dam-
age 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 Program-
ming 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.
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.
©OMRON, 2004
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o
r
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o
f
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con-
stantly 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.

vi

vii
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

viii
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

ix
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

x
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

xi
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 oper-
ation 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 infor-
mation 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 set-
tings, 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 con-
trol, 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 proce-
dure required to replace a Position Control Unit.
The Appendices provide information on the performance characteristics, lists of parameters, I/O allo-
cations 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.

xii
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
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.
The unit version of Position Control Units starts with unit version 1.0.
Confirming Unit Versions
with Support Software
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.
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.
CJ1W-NCF71
NC UNIT
Lot No. 040401 0000 Ver.1.0
OMRON Corporation MADE IN JAPAN
CJ1W-NCF71
RUN
ERC
ERH
ERM
MLK
NCF71
UNIT
No.
MLK
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Unit version
Example for unit version 1.0
Product nameplate
Unit version

xiii
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
--- --- --- Supported. Supported. Supported.
Transferring servo parameters
even when there is an axis error
--- --- --- Supported. Supported. Supported.
Creating servo locks during soft-
ware limit detection when an
absolute encoder is used
--- --- --- Supported. Supported. Supported.
Driver main circuit OFF error
detection only when the servo is
locked
--- --- --- Supported. Supported. Supported.
Using Holding Area address
H512 and onwards for function
block address allocations
--- --- --- Supported. Supported. Supported.
Addition of supported models:
SMARTSTEP Junior Servo
Drives (R7D-ZN@-ML2)
--- --- --- --- Supported. Supported.
Addition of rejoin function --- --- --- --- Supported. Supported.
Eliminating connection restric-
tion when Servo Drive alarms
occur (enabling connection
when alarm A.C90 occurs)
--- --- --- --- Supported. Supported.
Addition of origin search opera-
tion modes
--- --- --- --- Supported. Supported.
Addition of origin search preset
function
--- --- --- --- Supported. Supported.
Faster setting for transfer cycle
and communications cycle
when setting the absolute
encoder PG zero point position
offset with an origin search
--- --- --- --- --- Supported.

xiv
Upgrades Made According to Unit Versions of the Position Control Unit
Unit Version 1.0 to Unit Version 1.1
Unit Version 1.1 to Unit Version 1.2
Unit Version 1.2 to Unit Version 1.3
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 Posi-
tion Control Unit. (Refer to 9-7 Linear Inter-
polation.)
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 ver-
sion 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 moni-
toring 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.)
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.)

xv
Establishing connections
when there are unconnected
axes or axes with alarms that
cannot be cleared
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 opera-
tions using MECHATROLINK communica-
tions 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 con-
nections can be established.
Axis operations using MECHATROLINK com-
munications are possible for any axes regis-
tered 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 initializa-
tion errors) for Units with unit version 1.1 or
earlier, but they will be detected in the individ-
ual axis areas.
Note If R88D-WN@-ML2 W-series Servo
Drives (Models with Built-in MECHA-
TROLINK-II Communications) are con-
nected, 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.)
Transferring parameters when
there are axis errors
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.
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.)
Locking the servo when a
software limit is being
detected for a Motor with an
absolute encoder
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.
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

xvi
Unit Version 1.3 to Unit Version 2.0
Detecting driver main circuit
OFF errors only when the
Servo is locked
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.
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.)
Allocating holding addresses
H512 and higher as function
block addresses
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 func-
tion 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).
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.
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 MECHA-
TROLINK-II Communications)
Functional upgrade Unit version 1.2 Unit version 1.3

xvii
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 MECHA-
TROLINK communications for all axes at the
same time.
• Rejoin Function
An axis for which communications have
been stopped, e.g., due to a communica-
tions error, can be restarted without stop-
ping 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 tempo-
rarily 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 restric-
tion 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 W-
series Servo Drive (Model with Built-in
MECHATROLINK-II Communications),
MECHATROLINK communications cannot
be started with that Servo Drive.
MECHATROLINK communications can be
started under the conditions given at the left,
and operations, such as transferring Servo
Parameters, can be performed.
Addition of origin search oper-
ation 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 Single-
direction mode)
• Origin detection method: 1 setting
(With origin proximity input signal rever-
sal)
Eleven origin search operation pattern are
possible by combining the following settings:
• Origin search operations: 4 settings
(Reversal modes 1, 2, and 3, and Single-
direction mode)
• Origin detection methods: 3 settings (With
origin proximity input signal reversal, With-
out origin proximity input signal reversal,
Not use origin proximity input signal)
(Refer to 8-2-4 Origin Search Operation.)
Functional upgrade Unit version 1.3 Unit version 2.0
: Combinations supported by unit version 1.3 or earlie
r
: Combinations supported by unit version 2.0 or later
Origin search operation
Origin
detection
method Reversal
mode 1
Reversal
mode 2
Single-
direction
mode
Reversal
mode 3
(See note.)
(See note.)
(See note.)
Note: Origin search operation patterns supported by
absolute encoders.
With origin
proximity
input signal
reversal
Without
origin
proximity
input signal
reversal
Not use
origin
proximity
input signal

xviii
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.
With unit version 1.3 or earlier, once MECHATROLINK communications have been started by estab-
lishing 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
Addition of origin search pre-
set function
The preset function cannot be used during
origin searches.
The preset function can be used during ori-
gin 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.)
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 communi-
cations start.
• The flags will turn ON when connections
are made for the axes registered in the
scan list and MECHATROLINK communica-
tions start.
• The flag will turn ON when the rejoin func-
tion is used to start MECHATROLINK com-
munications for an axis registered in the
scan list.
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 MECHA-
TROLINK communications stop because
the axis is disconnected.
• The flags will turn OFF if a Unit error
occurs that requires disconnection.
• 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 OFF whenever a commu-
nications error occurs after MECHA-
TROLINK communications have been
started for the axis.
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.
Functional upgrade Unit version 1.3 Unit version 2.0

xix
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 NON-
INFRINGEMENT, 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.

xx
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.