40 Motion controllers
Position control unit
Specifications
Model CS1W-NC271 CS1W-NC471 CS1W-NCF71
Classification CS-series CPU bus unit
Applicable PLCs CS-series
CS-series (V. 3.0 or later if use of function blocks is needed)
Possible unit number settings 0 to F
Control method MECHATROLINK-II (position, speed and torque control )
Controlled devices Accurax G5 and G-Series servo drives with MECHATROLINK-II built-in
Controlled axes 2 maximum 4 maximum 16 maximum
I/O allocations Common operating memory area Words allocated in CPU bus unit area: 25 words (15 output words, 10 input words)
Axis operating memory area Allocated in one of the following areas (user-specified):
CIO, Work, Auxiliary, Holding, DM, or EM Area.
Number of words allocated: 50 words (25 output words, 25 input words) × highest axis No. used
Control units Position command unit Command unit: Depends on the electronic gear setting in the servo parameters.
Default setting: Pulses
Speed command unit for position control Command units/s
Acceleration/deceleration speeds for
position control 10,000 command units/s2
Speed command unit for speed control 0.001% of the motor's maximum speed
Torque command unit for torque control 0.001% of the motor's maximum torque
Control command
range Position command range -2,147,483,648 to 2,147,483,647 (command units)
Speed command range for position control 0 to 2,147,483,647 (command units/s)
Acceleration/deceleration speeds for
position control 1 to 65,535 (10,000 command units/s2)
Speed command range for speed control -199.999% to 199.999%
The upper limit is restricted by the maximum speed of the servo motor.
Torque command range for torque control -199.999% to 199.999%
The upper limit is restricted by the maximum torque of the servo motor.
Control functions Servo lock/unlock Locks and unlocks the servo driver.
Position control Positions to an absolute position or relative position according to the specified target position and tar-
get speed specified from the ladder program.
Origin determination • Origin search: Establishes the origin using the specified search method.
• Present position preset: Changes the present position to a specified position to establish the origin.
• Origin return: Returns the axis from any position to the established origin.
Absolute encoder origin: Establishes the origin using a Servomotor that has an absolute encoder,
without having to use an origin search.
Jogging Outputs a fixed speed in the CW or CCW direction.
Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt input is received
while the axis is moving.
Speed control Performs speed control by sending a command to the servo drive speed loop.
Torque control Performs torque control by sending a command to the servo drive current loop.
Stop functions • Deceleration stop: Decelerates the moving axis to a stop.
• Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation
counter and then stops the axis.
Linear interpolation Up to 8 axes can be interpolated by using two interpolators (4 axes per interpolator)
Available in unit version 1.1 or higher
Auxiliary functions Acceleration/deceleration curves Sets either a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average).
Torque limit Restricts the torque upper limit during position control.
Override Multiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67%
Servo parameter transfer Reads and writes the servo drive parameters from the ladder program in the CPU unit.
Monitoring function Monitors the control status of the servo drive's command coordinate positions, feedback position,
current speed, torque, etc.
Software limits Limits software operation for controlling positioning.
Backlash compensation Compensates for the amount of play in the mechanical system according to a set value.
Deviation counter reset The position deviation in the servo drive’s deviation counter can be reset to 0 (unit version 1.3 or later).
External I/O Position control unit One MECHATROLINK-II interface port
Servo driver I/O CW/CCW limit inputs, origin proximity inputs, external interrupt inputs 1 to 3
(can be used as external origin inputs)
Programming
methods Standard ladder Directly over NCF unit memory area
Function blocks Using standard PLC open function blocks
Smart active parts Use of OMRON HMIs smart active parts optimizes CPU usage and engineering time
Internal current consumption 360 mA or less at 5 VDC
Weight 188 g
Y203-EN2-04+MotionDrives+Cat.book Seite 40 Freitag, 21. Mai 2010 11:01 11
