Omron CS1W-MCH71 - User manual

Motion Control Unit
Cat. No. W435-E1-05
Programmable Controller
SYSMAC CS/CJ-series
CS1W-MCH71
CJ1W-MCH71
OPERATION MANUAL

CS1W-MCH71
CJ1W-MCH71
Motion Control Unit
Operation Manual
Revised June 2008

iv

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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.

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Introduction
We are flattered that you have purchased OMRON SYSMAC CS/CJ-series advanced Motion Control
Unit.
Motion control Unit CS1W-MCH71/CJ1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high
performance CPU unit of the programmable controller SYSMAC CS/CJ-series that has been produced
by OMRON's advanced technology for control and abundant experience.
This instruction manual describes MC Unit's specifications and procedures for operation.
Please read each section in its entirety and be sure you understand the information provided in the
section and relate sections before attempting any of the procedures or operation given.

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MC Units
Unit Versions A “unit version” has been introduced to manage MC Units according to differ-
ences 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
applicable MC Units, as shown below.
The unit version of the MC Units begins at version 2.0.
Identifying Unit Versions A unit version label is provided with the Advanced Motion Control Unit. This
label can be attached to the front of the Motion Control Unit to differentiate
between Motion Control Units of different Unit versions.
Confirming Unit Versions
with Support Software
The unit version 2.1 or later can be confirmed in Unit Manufacturing Informa-
tion of CX-Programmer version 4.0 or higher. Unit version 2.0 cannot be con-
firmed in Unit Manufacturing Information. Use the CX-Motion-MCH Support
Tool for Motion Control Units to confirm the unit version.
Example: Confirming Unit Version 2.1 or Later Using CX-Programmer
Version 4.0 or Higher
1. In the I/O Table Window, right-click the Motion Control Unit and select Unit
Manufacturing Information.
2. The following Unit Manufacturing Information Dialog Box will be displayed.
MC Unit
Product nameplate
Unit version
Example for unit version 3.1
OMRON CJ1W- MCH71
MC UNIT
Lot No. 031001 0000 Ver.3.1
Attach the unit version label here.
Ver. 3.1

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3. Unit version 3.1 will be displayed in the Unit Manufacturing Information Di-
alog Box.
Example: Confirming Unit Version 3.0 Using CX-Motion-MCH Support
Tool
Use the CX-Motion-MCH Support Tool for Motion Control Units to confirm the
unit version, as shown in the following table.
Method for confirming the internal
system software version
The system software version in the Motion Con-
trol Unit can be checked in the Unit information
from the online menus.
Corresponds to the unit version Internal system software version
CJ1W-MCH71 CS1W-MCH71
Unit Ver. 2.0:
Unit Ver. 2.1:
Unit Ver. 3.0:
Unit Ver. 3.1
1.05xxxx
1.06xxxx
1.07xxxx
1.09xxxx
1.05xxxx
---
1.08xxxx
1.09xxxx

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Functions Supported by CJ1W-MCH71 Units Version 2.1 or Later
CJ1W-MCH71 Unit Versions and Manufacturing Dates/Lot Numbers
Unit version Unit Ver. 2.0 Unit Ver. 2.1 Unit Ver. 3.0 Unit Ver. 3.1
Internal system software version 1.05 1.06 1.07 1.09
MC Unit model CJ1W-MCH71
Functions Reading unit version function Not supported Supported Supported Supported
Expanded allocations in Custom
I/O Area
Not supported Supported Supported Supported
Data tracing Not supported Not supported Supported*1 Supported*1
Debugging Not supported Not supported Supported*1 Supported*1
Zones Not supported Not supported Supported*1 Supported*1
Signed master axis MOVELINK com-
mand
Not supported Not supported Supported Supported
Indirect writing of position data Not supported Not supported Supported Supported
Setting the number of parallel
branches for each task
Not supported Not supported Supported*1 Supported*1
Present position preset to establish
origin
Not supported Not supported Supported*1 Supported*1
Status of program start bit Not supported Not supported Supported Supported
Servo OFF for deceleration stop signal Not supported Not supported Supported*1 Supported*1
Re-execution of WAIT command Not supported Not supported Supported Supported
Main power status Not supported Not supported Supported Supported
Servo Driver status Not supported Not supported Supported Supported
Increased precision of CAMBOX com-
mand
Not supported Not supported Supported Supported
Improved restarting after restoration --- --- --- Supported
Expanded bank switching for interpo-
lation acceleration/deceleration times
--- --- --- Supported
Internal overrides --- --- --- Supported
Connecting to SMARTSTEP Junior
Servo Drivers
--- --- --- Supported*2
Improved backup and restore func-
tions
--- --- --- Supported*2
Program and CAM data read protec-
tion
--- --- --- Supported*2
Applicable Support Tool CX-Motion-MCH
• Functions for unit version 3.0 indicated by “*1” can be used with CX-
Motion-MCH version 2.0 or higher.
• Functions for unit version 3.1 indicated by “*2” can be used with CX-
Motion-MCH version 2.1 or higher.
Classification Type Model Manufacturing dates
Up to early
November
2004
From middle of
November
2004
From early
June
2005
From early
July
2007
CPU Bus Unit MC Unit CJ1W-MCH71 Unit version 2.0 Unit version 2.1
(Lot No.:
041117 and
later)
Unit version 3.0
(Lot No.:
050615 and
later)
Unit version 3.1
(Lot No.:
070615 and
later)

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Functions Supported by CS1W-MCH71 Units Version 2.0 or Later
CS1W-MCH71 Unit Versions and Manufacturing Dates/Lot Numbers
Unit version Pre-Ver. 2.0 Unit Ver. 2.0 Unit Ver. 3.0 Unit Ver. 3.1
Internal system software version 1.00 to 1.04 1.05 1.08 1.09
MC Unit model CS1W-MCH71
Functions Jogging --- Supported Supported Supported
Communications levels --- Supported Supported Supported
Communications cycle and unit cycle --- Supported Supported Supported
LATCH command processing time --- Supported Supported Supported
Latch status refresh time --- Supported Supported Supported
Using interpolation commands during pass
operation
--- Supported Supported Supported
Acceleration/deceleration time during pass
operation
--- Supported Supported Supported
Deceleration time during pass operation --- Supported Supported Supported
Torque to position control switching --- Supported Supported Supported
Expanded allocations in Custom
I/O Area
--- --- Supported*1 Supported*1
Digital input values changed to improve
noise immunity
--- --- Supported Supported
Faster unit cycle and communications cycle
times
--- --- Supported Supported
Signed master axis MOVELINK command --- --- Supported Supported
Indirect writing of position data --- --- Supported Supported
Status of program start bit --- --- Supported Supported
Re-execution of WAIT command --- --- Supported Supported
Main power status --- --- Supported Supported
Servo Driver status --- --- Supported Supported
Increased precision of CAMBOX command --- --- Supported Supported
Data tracing --- --- Supported*1 Supported*1
Debugging --- --- Supported*1 Supported*1
Zones --- --- Supported*1 Supported*1
Setting the number of parallel branches for
each task
--- --- Supported*1 Supported*1
Present position preset to establish origin --- --- Supported*1 Supported*1
Servo OFF for deceleration stop signal --- --- Supported*1 Supported*1
Improved restarting after restoration --- --- --- Supported
Expanded bank switching for interpolation
acceleration/deceleration times
--- --- --- Supported
Internal overrides --- --- --- Supported
Connecting to SMARTSTEP Junior Servo
Drivers
--- --- --- Supported*2
Improved backup and restore functions --- --- --- Supported*2
Program and CAM data read protection --- --- --- Supported*2
Applicable Support Tool CX-Motion-MCH
• Functions for unit version 3.0 indicated by “*1” can be used with CX-
Motion-MCH version 2.0 or higher.
• Functions for unit version 3.1 indicated by “*2” can be used with CX-
Motion-MCH version 2.1 or higher.
Classification Type Model Manufacturing dates
From early
June
2004
From July 2004 From
March
2007
From early
July
2007
CPU Bus Unit MC Unit CS1W-MCH71 Pre-Ver. 2.0 Unit version 2.0
(Lot No.:
040715 and
later)
Unit version 3.0
(Lot No.:
070313 and
later)
Unit version 3.1
(Lot No.:
070615 and
later)

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Guide to Version Upgrades
Guide to CJ1W-MCH71 Version Upgrade
Function Upgrades from
Unit Version 3.0 to 3.1
Restarting after Restoration
Expanded Bank Switching for Interpolation Acceleration/Deceleration
Times
Internal Overrides
Connecting to SMART STEP Junior Servo Drivers
Previous versions
(Unit Ver. 3.0 and earlier)
Current version
(Unit Ver. 3.1)
After data has been restored from the
CPU Unit's flash memory, the Unit must
be restarted by cycling the CPU Unit's
power supply.
After data has been restored from the
CPU Unit's flash memory, the Unit is
restarted using a bit between A50100 and
A50115 in the Auxiliary Area of the CPU
Unit. For details, refer to 7-1 Overview.
Previous versions
(Unit Ver. 3.0 and earlier)
Current version
(Unit Ver. 3.1)
The acceleration time and deceler-
ation time used for interpolation
operations cannot be set sepa-
rately.
The acceleration time and deceleration time
used for interpolation operations can be set sep-
arately.
P00004, bit 13: Bank switching method selection
0: Select the same bank for acceleration and
deceleration (same as for version 3.0).
1: Select different banks for the acceleration
time and deceleration time.
Parameters P00M11 to P00M15 are used to set
acceleration times, and P00M16 to P00M20 are
used to set deceleration times. For details, refer
to 6-1 Basic Information.
Previous versions
(Unit Ver. 3.0 and earlier)
Current version
(Unit Ver. 3.1)
There is a function for changing
the axis feed rate from a ladder
program, but not from a motion
program.
The feed rate when the following commands are
executed can be changed from a motion pro-
gram.
Commands for which an override can be speci-
fied from the motion program:
MOVE Rapid feed rate
DATUM Origin return feed rate
MOVEI Rapid feed rate, external position-
ing rate
MOVET Rapid feed rate
The actual speed is as follows:
Actual speed = Axis feed rate x (Axis override +
Internal override)
For details, refer to 6-1 Basic Information.
Previous versions
(Unit Ver. 3.0 and earlier)
Current version
(Unit Ver. 3.1)
Cannot be connected. Can be connected.