Omron MECHATROLINK-II CS1W-NCF71 User manual

35Position control unit
CS1W-NCF71 - MECHATROLINK-II
Position control unit
Multi-axes position controller over high-speed
MECHATROLINK-II
• Up to 16 axes controlled with minimum wiring.
Only one cable between devices is needed.
• High-speed bus MECHATROLINK-II is specially
designed for motion control.
• Supports position, speed and torque control.
• Programming languages: ladder, function blocks.
• Smart active parts for OMRON HMIs terminals reduce
engineering time.
• Access to the complete system from one point. Net-
work setup, servo drives configuring and monitoring,
and PLC programming.
System configuration
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
Sigma-II
series
Servo Drive
JUSP-NS115
MECHATROLINK-II
unit
Sigma-II series
Servo Motor
CS1 series
Position control unit
CS1W-NCF71
Sigma-II series
Linear Motor
Terminator
Personal computer
software: CX-One
MECHATROLINK-II 16 axes max.
Limit switches
contact sensors
Input
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36 Motion controllers
Specifications
Position control unit
Model 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 Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface
Controlled axes 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 driver speed loop.
Torque control Performs torque control by sending a command to the servo driver 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 driver parameters from the ladder program in the CPU unit.
Monitoring function Monitors the control status of the servo driver'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.
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 for 5 VDC
Weight 188 g
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Position control unit 37
JUSP-NS115 - MECHATROLINK-II interface unit
Nomenclature
CJ1W-NCF71 - position control unit
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 MHz / 0.5 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
UNIT No. setting switch
LED indicators
MECHATROLINK-II communications connectors:
Connects to MECHATROLINK-II nodes
MLK - MECHATROLINK-II network status
RUN - Controller in RUN
ERC - Position control unit error
ERH - PLC CPU unit error
ERM - MECHATROLINK-II slave unit error
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38 Motion controllers
JUSP-NS115 - MECHATROLINK-II interface unit
Dimensions
CS1W-NCF71 - position control unit
JUSP-NS115 - MECHATROLINK-II interface unit
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 groung mark on the servo drive
34.5
130
100.5 6.2
NCF71
RUN
ERC
UNIT
No.
ERH
ERM
MLK
MLK
24
CN6A
Units: mm Approx. mass: 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
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Position control unit 39
Installation
MECHATROLINK-II interface connections
Ordering information
Position controller unit
MECHATROLINK-II related devices
Servo system
Note: Refer to servo systems section for more information.
Computer software
Name Model
MECHATROLINK-II position controller unit CS1W-NCF71
Name Remarks Model
MECHATROLINK-II
interface unit For Sigma-II series servo drives. (Firmware version 38 or later) JUSP-NS115
MECHATROLINK-II
terminator Terminating resistor JEPMC-W6022
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
Specifications Model
CX-One version 1.1 or higher CX-ONE
+
-
+
-
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
with P-OT OFF
Reverse run prohibit
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 Ω/S
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
3.3k Ω
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
(ON when positioning is
completed)
BK output*
2
(ON when brake is
released)
Servo ready output
(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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40 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. I10E-EN-01
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