Omron CS1W-MCH71 - User manual

49Motion control unit
CS1W-MCH71 - MECHATROLINK-II
Motion control unit
Multi-axes motion control via high-speed
MECHATROLINK-II
• Up to 30 axes controlled with minimum wiring
• High-speed bus MECHATROLINK-II is specially
designed for motion control
• Supports position, speed and torque control
• Electronic CAM profiles and axes synchronization
• Hardware registration input for every axis
• Program control commands, like multi-task, parallel
programming and various arithmetic operations for
maximum program efficiency
• Smart active parts for OMRON HMIs
• Access to the complete system from one point
Multi-axes control is made easy by freely combining control axes. Up to 32 axes can be used, including 30 physical axes and two virtual axes, and
each axis can be set individually. Position control, synchronized control (electronic gear, electronic cam, follow-up), speed control, and torque con-
trol are all supported, enabling a wide range of applications. By using the high-speed servo communications MECHATROLINK-II, motion pro-
grams, system parameters, system data, and servo drive parameters can be set and read from the software tool.
System configuration
Function
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
CHARGE POWER
SERVOPACK
SGDH-
200V Ver.
CN3
CN1
CN2
NS115
S
W
1
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
C
N
1
C
N
2
RUNTX 1 2 3 4 5 6 7 8 120 DDI 343 30
Sigma-II series
Servo Drive
JUSP-NS115
Mechatrolink-II
unit
Sigma-II series
Servo Motor
CS1 series
Motion control unit
CS1W-MCH71
Sigma-II series
Linear Motor
Terminator
Personal computer
Software: CX-One
MECHATROLINK-II 30 axes max.
Totel length: 50 m
Limit switches
contact sensors
Input
I/O module
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50 Motion controllers
Motion control unit
Specifications
Model CS1W-MCH71
Classification CS-series CPU bus unit
Applicable PLCs CS-series, (CS1@-CPU@@H)
Backplanes on which MC unit can be mounted CPU backplane or CS-series expansion I/O backplane
Control method MECHATROLINK-II (position, speed and torque control)
Controlled devices Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II Interface, various I/O units and inverters V7, F7,
G7 with MECHATROLINK-II interface (for inverter version support contact your OMRON sales office)
Programming language BASIC type motion control language
Controlled axes 32 max, including 30 physical or virtual axes and 2 virtual axes
Operating modes RUN mode, CPU mode, Tool mode/system (depending on tool)
Automatic/manual mode Automatic mode: mode for executing programs in the unit
Manual mode: mode for executing commands from the CPU unit (via allocated words)
Minimum setting unit 1, 0.1, 0.01, 0.001, 0.0001 (unit: mm, inch, degree, pulse)
Maximum command value -2,147,483,648 to 2,147,483,647 pulses (32 bits with sign); infinite axis feed mode supported.
Example: 16,384 pulses/rev after multiplication, a minimum setting unit of 0.001 mm and 1 mm/rev would result
in -1,310,720,000 to 1,310,719,999 command units.
Control functions
by command from
CPU unit
Servo lock/unlock Locks and unlocks the servo driver.
Jogging Executes continuous feeding for each axis independently at selectable speed.
Origin search Determines the machine origin in the direction set in the system parameters.
Can be executed with an absolute encoder.
Absolute origin setting Sets the origin for when an absolute encoder is used. (Offset value: 32 bits [pulses] with sign)
Machine lock Stops the output of move commands to axes.
Single block Executes motion programs one block at a time.
Control functions by
motion program Positioning (PTP) Executes positioning independently for each axis at a specified speed or the speed system parameter. (Simultaneous specification: up to eight axes/block, simultaneous execution: up to 32 blocks/unit)
Linear interpolation Executes linear interpolation for up to eight axes at a time at the specified interpolation feed speed.
(Simultaneous specification: up to eight axes/block, simultaneous execution: up to 32 blocks/system)
Circular interpolation Executes circular interpolation for two axes in either clockwise or counterclockwise at the specified interpolation
feed speed. Helical circular interpolation is also possible with single-axis linear interpolation added.
(Simultaneous specification: two or three axes/block, simultaneous execution: up to 16 blocks/system)
Other functions Origin searches, interrupt feeding, timed positioning, traverse positioning, independent electronic CAM, synchronized
electronic CAM, link operation, electronic gear, follow-up synchronization, speed reference, torque reference
Acceleration/deceleration curve,
acceleration/deceleration time Trapezoidal or S-curve, 60,000 ms max. (S-curve: constant 30,000 ms max.)
External I/O One port for MECHATROLINK-II servo communications, one deceleration stop input, two general inputs,
two general outputs
Feed rate Rapid, interpolation feed rate: 1 to 2,147,483,647 (command units/min)
Override 0.00% to 327.67% (setting unit: 0.01%; can be set for each axis or task.)
Motion
programs Number of tasks, number of programs Up to 8 tasks and 256 programs/unit (8 parallel branches per task max.)
Program numbers 0000 to 0499 for main program; 0500 to 0999 for subroutine
Program capacity In motion program conversion, 8,000 blocks/unit max. (2 Mbytes); number of blocks: 800 per program
Data capacity Position data: 10,240 points/unit; cam data: 32 max.; 16,000 points/unit
Subroutine nesting Five levels max.
Start Programs in other tasks can be started from a program or from the PLC
Deceleration stop Decelerates to a stop regardless of the block.
Block stop Decelerates to a stop after the block being executed is ended.
Single block Executes the program one block at a time.
Data exchange
with CPU unit Unit BIT area Uses one unit number (25 words). Used for unit and tasks: 11 to 25 words (depending on the number of tasks)
Unit data area Uses one unit number (100 words). Used for unit and tasks: 32 to 74 words (depending on the number of tasks)
Axes BIT area Axes: 0 to 64 words (depending on the maximum axis number used). User configurable.
Axes data area Axes: 0 to 128 words (depending on the maximum axis number used). User configurable.
General purpose General I/O: 0 to 1,280 words (depending on the settings). User configurable.
Saving programs and data Memory card backup (in CPU unit, 100,000 times max.)
Self-diagnostic functions Watchdog, RAM check, etc.
Error detection functions Deceleration stop inputs, unit number errors, CPU errors, software limit errors, etc.
Error log function Read by IORD instruction from CPU unit.
Support software Microsoft Windows 2000 or NT 4.0 (Processor: Pentium, 100 MHz min., with at least 64 MB of memory)
External power supply voltage 24 VDC (21.6 to 26.4 VDC)
Internal current consumption 0.8 A or less for 5 VDC; 0.3 A or less for 24 VDC
Weight (not including connectors) 300 g max.
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Motion control unit 51
MECHATROLINK-II, servo drive interface unit (JUSP-NS115)
MECHATROLINK-II, 64 point I/O module (IO2310)
MECHATROLINK-II, counter module (PL2900)
MECHATROLINK-II, pulse output module (PL2910)
Item Details
Type JUSP-NS115
Applicable servo drive SGDH-@@@E models (version 38 or later)
Installation method Mounted on the SGDH servo drive side: CN10.
Basic
specifications Power supply method Supplied from the servo drive control power supply.
Power consumption 2 W
MECHATROLINK -II
communications Baud rate / transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications
Command format Operation specification Positioning using MECHATROLINK-I/II communications.
Reference input MECHATROLINK-I/II communications
Commands:position, speed, torque, parameter read/write,
monitor output
Position control
functions Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve
Fully closed control Position control with fully closed feedback is possible.
Fully closed
system
specifications
Encoder pulse output in the
servo drive 5 V differential line-driver output (complies with EIA standard RS-422A)
Fully Closed Encoder Pulse Signal A quad B line-driver
Maximum Receivable Frequency
for Servo Drive 1 Mpps
Power Supply for Fully Closed
Encoder To be prepared by customer.
Input signals in the
servo drive Signal allocation changes possible Forward/reverse run prohibited, zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse torque control
Internal functions Position data latch function Position data latching is possible using phase C,
and external signals 1, 2, 3
Protection Parameters damage, parameter setting errors, communications errors,
WDT errors, fully closed encoder detecting disconnection
LED indicators A: alarm, R: MECHATROLINK-I/II communicating
Items Specifications Appearance
Model JEPMC-IO2310
I/O signals Input: 64 points, 24 VDC, 5 mA, sink/source mode input
Output: 64 points, 24 VDC, 50 mA when all points ON,
(the max. rating is 100 mA per point) sink mode output (NPN))
Signal connection method: connector (FCN360 series)
Module power supply 24 VDC (20.4 V to 28.8 V)
Rated current: 0.5 A
Inrush current: 1 A
Weight 590 g
Items Specifications Appearance
Model JEPMC-PL2900
Number of input
channels 2 (1 can be used with MCH)
Functions Pulse counter, notch output
Pulse input method Sign (1/2 multipliers), A/B (1/2/4 multipliers), UP/DOWN (1/2 multipliers)
Max. counter speed 1200 kpps (x 4 multiplier)
Pulse input voltage 3/5/12/24 VDC
External power supply 24 VDC, 120 mA or less
Weight 300 g
Items Specifications Appearance
Model JEPMC-PL2910
Number of output
channels 2
Functions Pulse positioning, JOG run, zero-point return
Pulse output method CW, CCW pulse, sign
Max. output speed 500 kpps
Pulse output voltage 5 VDC
Pulse interface circuit Open collector output
5 VDC, 10 mA/circuit
External control signal Digital input: 8 points/module, 5 VDC x 4 points, 24 VDC x 4 points
Digital output:6 points/module, 5 VDC x 4 points, 24 VDC x 2 points
Weight 300 g
NS115
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52 Motion controllers
MECHATROLINK-II repeater
MECHATROLINK-II, frequency inverter interface units
Nomenclature
CS1W-MCH71 - motion control unit
JUSP-NS115 - MECHATROLINK-II interface unit
Items Specifications Appearance
Model JEPMC-REP2000
Communication type MECHATROLINK-II
Cable length Between controller and repeater: 50 m., after repeater: 50 m
Max. connected
stations Total stations on both sides of repeater: 30
(limited to the max. number of connectable stations of the controller (e.g., 30 stations for the CJ1W-MCH71)
Restrictions Between controller and repeater
- Total cable length ≤30m: 15 stations max. including I/O and servo, etc.
- 30 m < total cable length ≤50m: 14 stations max. including I/O and servo, etc.
After repeater:
- Total cable length ≤30m: 16 stations max. including I/O and servo, etc.
- 30 m < total cable length ≤50m: 15 stations max. including I/O and servo, etc.
Power supply 24VDC, 100 mA
Weight 340 g
Dimensions (mm) 30x160x77 (HxWxD)
Item Details
Type SI-T/V7 SI-T
Applicable inverter CIMR-V7 / 3G3-MV
(firmware 5740 or newer) CIMR-G7 / CIMR-F7 (firmware 656x/for G7 / 4011 or newer for F7)
Contact your OMRON sales office for information about firmware compatibility
Installation method Mounted on the inverter
Power supply Supplied from the inverter
MECHATROLINK-II communications 10MHz, 0.5ms to 8ms for MECHATROLINK-II
Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference
(G7/F7 only).
Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master
Connectors ML-II bus connector. DPRAM connector for the inverter
Switches Rotary switch for ML-II address (low byte)
Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 17 byte/32 byte data length selection.
UNIT no. setting switch
LED indicators
MECHATROLINK-II communications connectors:
Connects to the MECHATROLINK-II nodes
I/O connector
For future use
NS115
Rotary switch (SW1)
Used to set the Mechatrolink-II station address
LED(A)
Alarm status
LED(R)
MECHATROLINK-II communication status
DIP switch (SW2)
Used to for MECHATROLINK-II communications setting
MECHATROLINK-II communications CN6A and CN6B connectors:
Connects to the MECHATROLINK-II system
CN4 fully closed encoder signal connector
Used for fully closed signal connection
Ground wire
Connected to ground mark on the servo drive
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Motion control unit 53
CS1W-MCH71 - motion control unit
O2310 I/O module
I/O modules PL2900, PL2910
Dimensions
35 100.5
104
128
Units: mm Approx. weight: 0.3 kg
4-tapped holes M4
121±0.2
111±0.2
Mounting hole diagram
108
20
4.5 4.5
111
120
121 130
4.5 4.5
4.5 152
RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30
C
N
1
C
N
2
4.5
161
152
44
RUN TX 1 2 3 4 5 6 7 8 120 DDI 343 30
89.8
79
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54 Motion controllers
JUSP-NS115 - MECHATROLINK-II interface unit
Installation
MECHATROLINK-II interface connections
24
CN6A
Units: mm Approx. weight: 0.2 kg
NS115
S
W
1
20 128
142 100
2
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
Name
plate
CN6B
CN4
FG terminal
Connector
to SERVOPACK
M4
+
-
+
-
MECHATROLINK I/F unit
type JUSP-NS115
To other
MECHATROLINK-II station
Backup battery
*
1
2.8 to 4.5 V
Zero point return
deceleration LS
*
2
with /DEC ON
Forward run prohibit
*
2
with P-OT OFF
Reverse run prohibit
*
2
with N-OT OFF
External latch 1
*
2
with /EXT1 ON
External latch 2
*
2
with /EXT2 ON
External latch 3
*
2
with /EXT3 ON
* 1 Connect when using an absolute encoder and when the battery is not connected to CN8.
* 2 Set the signal assignment with the user constants.
CN 6A
2
3
4
/S
S
P
P
SH
120 ΩS
S
SH
BAT (+)
P
BAT (-)
+24VIN
/DEC
P-OT
N-OT
/EXT 1
/EXT 2
/EXT 3
Connector shell
Connect shield to connector shell.
FG
+24 V
3.3 kΩ
2
3
4
21
22
47
40
25
1
39
38
37
26
27
28
29
30
31
32
/COIN+
SG
AL 03
AL 02
AL 01
Alarm code output
Maximum operating voltage 30 VDC
Maximum output current 20 mADC
/COIN-
/BK+
/BK-
/S-RDY+
/S-RDY-
ALM+
ALM-
41
42
43
44
45
46
CN 6B
CN 1
For the terminal station, connect a terminator
(JEPMC-W6022)
Positioning completed
*
2
(ON when positioning is completed)
BK output
*
2
(ON when brake is released)
Servo ready output
*
2
(ON when ready)
Servo alarm output
(OFF with an alarm)
Photocoupler output
Maximum operating voltage 30 VDC
Maximum output current 50 mADC
Servo drive
type SGDH
(For SERVOPACK connection,
see sigma-II chapter)
CN 4
External
power supply
1, 2, 3
PG0V
PA
/PA
PB
/PB
PC
/PC
16
17
18
19
14
15
Fully-closed encoder
for speed/position
detection
PG
P represents twisted-pair wires. represents shield.
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Motion control unit 55
Motion controller
MECHATROLINK-II - related devices
I/O cables
Servo system
Note: Refer to servo systems section for detailed information
Frequency inverters
Note: Refer to frequency inverters section for detailed information
Computer software
Ordering information
Name Model
MECHATROLINK-II motion control unit CS1W-MCH71
Name Remarks Model
Distributed I/O modules 64 point input and 64 point output JEPMC-IO2310
Reversible counter: 2 channels JEPMC-PL2900
Pulse output: 2 channels JEPMC-PL2910
MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5
1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II
interface units For Sigma-II series servo drives. (Firmware version 38 or later) JUSP-NS115
For Varispeed V7 inverter
(for inverter version support contact your OMRON sales office) SI-T/V7
For Varispeed F7, G7 inverter
(for inverter version support contact your OMRON sales office) SI-T
MECHATROLINK-II repeater When 17 or more axes are connected to the MECHATROLINK-II
the repeater is required JEPMC-REP2000
Remarks Length m Model
I/O cable for IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-05
1.0 JEPMC-W5410-10
3.0 JEPMC-W5410-30
Specifications Model
CX-One version 1.1 or higher CX-One
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56 Motion controllers
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I08E-EN-02
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