Omron CS1W-MCH71 - User manual

Cat. No. W419-E1-04
Programmable Controller
SYSMAC CS-series
CS1W-MCH71
Motion Control Unit

CS1W-MCH71 Motion Control Unit
Operation Manual
Revised September 2004

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.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
!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, 2003
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
Introduction
We are flattered that you have purchased OMRON SYSMAC CS-series advanced Motion Control Unit.
Motion control Unit CS1W-MCH71 (the abbreviation “MC Unit” is in this mean) is a high performance
CPU unit of the programmable controller SYSMAC CS-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.

vii
Unit Versions of CS-series Advanced Motion Control
Units
Unit Versions A “Unit version” has been introduced to manage Advanced Motion Control
Units (MC Units) in the CS Series according 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
applicable CS-series Advanced Motion Control Units, as shown below.
The unit version of the Advanced Motion Control 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 cannot be confirmed in Unit Manufacturing Information of
CX-Programmer version 4.0 or higher.
Use the MC-Miel for MCH Support Tool for Motion Control Units to confirm the
unit version, as shown in the following table.
CS-series Advanced Motion Control Unit
Product nameplate
Unit version
Example for Unit version 2.0
OMRON CS1W-MCH71
MC UNIT
Lot No. 031001 0000 Ver.2.0
Attach the unit version label here.
Method for confirming the
internal system software
version
Confirm in the device information under the Tools Menu in
the MC-Miel for MCH.
Corresponds to the unit
version
Internal system software version
Pre-Ver. 2.0: 1.00xxxx to 1.04xxxx
Unit Ver. 2.0: 1.05xxxx

viii
Unit Version Notation
In this manual, the unit version of a Motion Control Unit is given as shown in
the following table.
Functions Supported by Advanced Motion Control Unit Ver. 2.0
Unit Versions and Lot Numbers
Product nameplate Notation used in this manual Special remarks
Ver. 2.0 or later number
shown to the right of the
lot number
CS-series Advanced Motion Control Unit Ver. 2.0 or later. Information without refer-
ence to specific Unit ver-
sions applies to all versions
of the Unit.
Blank to the right of lot
number
Pre-Ver. 2.0 CS-series Advanced Motion Control Unit
Unit Version Pre-Ver. 2.0 Motion Control Unit Motion Control Unit Ver. 2.0
Internal system software version 1.00 to 1.04 1.05
CS-series Advanced Motion Control Unit
model numbers
CS1W-MCH71 CS1W-MCH71
Jogging Not supported Supported
Communications levels Not supported Supported
Communications cycle/Unit cycle Not supported Supported
LATCH command processing time Not supported Supported
Latch status refresh time Not supported Supported
Using interpolation commands during
pass operation
Not supported Supported
Acceleration/deceleration time during
pass operation
Not supported Supported
Deceleration time during pass opera-
tion
Not supported Supported
Torque to position switching Not supported Supported
Speed to position switching Not supported Supported
Support Software MC-Miel for MCH Ver. 1.5.7 or lower MC-Miel for MCH Ver. 1.5.8 or higher
Type Model Date of manufacture
June 2004 or earlier July 2004 or later
CPU Bus Unit Advanced Motion Con-
trol Unit
CS1W-MCH71 No version code
(pre-Ver. 2.0)
Unit Ver. 2.0.
(Lot No.: 040715 or later)

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Version Upgrade Information
The following tables outline changes made for the most recent version upgrade for SYSMAC CS-
Series Advanced Motion Control Units.
Jogging
Network Levels
Communications Cycle/Unit Cycle
LATCH Command Processing Time
Previous versions Present version (unit Ver. 2.0 or later)
The following procedure was required to set or reverse
the jogging direction.
• Specify the feed direction using the JOG/STEP Direc-
tion Bit.
• Turn ON The JOG Operation Bit.
• Turn OFF the JOG Operation Bit to reverse the feed
direction.
• Reverse the JOG/STEP Direction Bit after the axis
has stopped.
• Turn ON the JOG Operation Bit.
• The jogging direction will then be reversed.
• The following setting/reversal method has been
added.
• Specify the feed direction using the JOG/STEP Direc-
tion Bit.
• Turn ON the JOG Operation Bit.
• Leave the JOG Operation Bit turned ON and simply
reverse the JOG/STEP Direction Bit setting to reverse
the feed direction.
• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 05
0: Default setting. Same functionality as previous ver-
sions. This bit was previously reserved (default setting
0).
1: Selects new function supported with this version.
Previous versions Present version (unit Ver. 2.0 or later)
Motion Control Units could be used to control commu-
nications across three network levels.
Motion Control Units now support communications
across eight network levels, the same as CPU Units.
CPU Units with unit Ver. 2.0 or later support eight net-
work levels.
Previous versions Present version (unit Ver. 2.0 or later)
The communications cycle and Unit cycle were as fol-
lows:
Communications cycle: 1 ms, 2 ms, or 4 ms
Unit cycle: 1 ms, 2 ms, 4 ms, or 8 ms
• A 3-ms communications cycle is now supported,
enabling higher-precision performance.
Communications cycle: 1 ms, 2 ms, 3 ms, or 4 ms
Unit cycle: 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, or 8 ms
• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 03
0: Default setting. Same functionality as previous ver-
sions. This bit was previously reserved (default setting
0).
1: Enables 3-ms cycle provided with this version.
Previous versions Present version (unit Ver. 2.0 or later)
The time required to detect the external latch signal
after the LATCH command is executed was as follows:
Receiving latch signals at any position:
105 ms to 232 ms
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms
The required time has been shortened for receiving
latch signals at any position, as follows:
Receiving latch signals at any position:
3 ms to 24 ms (improved)
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms (same)

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Latch Status Refresh Time
Using Interpolation Commands in Pass Operations
Acceleration/Deceleration Time During Pass Operation
Previous versions Present version (unit Ver. 2.0 or later)
After LATCH command execution, the time required
from input of the latch signal until the input is reflected
in the system variable (variable showing latch comple-
tion) was as follows:
14.5 ms to 85.5 ms
The required time has been shortened as follows:
7.5 ms to 37.5 ms
Previous versions Present version (unit Ver. 2.0 or later)
To execute a pass operation when the axis was
stopped required two interpolation commands just for
the first movement.
Example:
PASSMODE;
MOVEL [J01]100 F10000;
MOVEL [J02]400 F10000;
WHILE #MW0000==0;
INC MOVEL [J02]100 F1000;
WEND;
etc.
A pass operation can be executed when the axis is
stopped using a single interpolation command.
Example:
PASSMODE;
WHILE #MW0000==0;
INC MOVEL [J02]100 F1000;
WEND;
etc.
Previous versions Present version (unit Ver. 2.0 or later)
Parallel processing had to be executed using the PAR-
ALLEL command to change the acceleration/decelera-
tion time during a pass operation, making changes at
user-specified timing difficult.
• The acceleration/deceleration time can be changed
during pass operation.
• The acceleration/deceleration time can be easily
switched using the newly added parameter, as fol-
lows:
MOVEL [J01]1000 F1000
#IW0A00 = 2; [The pass operation will be performed
to the next position using the time set in bank 2.]
MOVEL [J01]5000 F1000
• The following ten new parameters have been added
and use the area previously allocated for task param-
eters.
The setting range is 0 to 60,000 ms.
No.
P00M11 Interpolation feed acceleration/decelera-
tion time (Bank 1)
to
P00M20 Interpolation feed acceleration/deceleration
time (Bank 10)

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Deceleration Time During Pass Operation
Switching from Torque to Position Control
Previous versions Present version (unit Ver. 2.0 or later)
The interpolation feed deceleration time was used to
decelerate to a stop during pass operation.
Example:
Pass Mode Select P00M06 = 0
Interpolation feed acceleration time Ta=P0MM02
Interpolation feed deceleration time Td=P00M03
Program:
PASSMODE;
INC MOVEL [J01]1000 F100000;
INC MOVEL [J01]1000 F100000;
END;
• The interpolation time used for the pass operation
(interpolation feed acceleration time or deceleration
time) is used to decelerate to a stop during pass oper-
ation.
Example:
Pass Mode Select P00M06 = 0
Interpolation feed acceleration time Ta=P0MM02
Interpolation feed deceleration time Td=P00M03
Program:
PASSMODE;
INC MOVEL [J01]1000 F100000;
INC MOVEL [J01]1000 F100000;
END;
• To decelerate to a stop using the interpolation feed
deceleration time in the same way as previous ver-
sions, add STOPMODE before the final interpolation
command before stopping.
PASSMODE;
INC MOVEL [J01]1000 F100000;
STOPMODE
INC MOVEL [J01]1000 F100000;
END;
Previous versions Present version (unit Ver. 2.0 or later)
Torque control switched could be switched to posi-
tion control using the TORQUR command only
after the axis feedback speed reached 0.
• Torque control can be switched to position control using the
TORQUR command when the axis feedback speed
reaches the speed specified in the specified parameter
(specified as a percentage of the rated speed).
• The following new parameter uses an area previously
reserved in the axis parameter area.
Parameter No.: P3AA09
Parameter name: Position Control Switching Speed
Setting range: 0 to 32767 (unit: 0.01%)
Ta Ta Td
Speed
Time
Ta Ta Ta
Speed
Time
Ta Ta Td
Speed
Time

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Switching from Speed to Position Control
Previous versions Present version (unit Ver. 2.0 or later)
Speed control switched could be switched to posi-
tion control using the SPEEDR command only
after the axis feedback speed reached 0.
• Speed control can be switched to position control using the
SPEEDR command when the axis feedback speed reaches
the speed specified in the specified parameter (specified as
a percentage of the rated speed).
• The following new parameter uses an area previously
reserved in the axis parameter area
Parameter No.: P3AA09
Parameter name: Position Control Switching Speed
Setting range: 0 to 32767 (unit: 0.01%)

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TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
4 Application Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxii
5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . . 1
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3 Basic Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1-4 Control System Configuration and Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1-5 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
1-6 Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1-7 Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
SECTION 2
Basic Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2-1 Basic Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2-2 Overview and Operating Procedure of MC-Miel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
SECTION 3
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3-2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3-3 External I/O Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3-4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3-5 Connecting MECHATROLINK Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
SECTION 4
MC Unit Internal Data Configuration and Setting . . . . . . . 49
4-1 Data Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4-2 System Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4-3 Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4-4 Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4-5 System Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4-6 I/O Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
4-7 Present Position Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
4-8 Servo Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
4-9 CAM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

xiv
TABLE OF CONTENTS
SECTION 5
Data Transfer and Storage. . . . . . . . . . . . . . . . . . . . . . . . . . . 193
5-1 Data Transfer and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
5-2 IOWR Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
5-3 IORD Instruction to Transfer Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
5-4 Saving Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
SECTION 6
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
6-1 Program and Task Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
6-2 Command Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .260
6-3 Command Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
SECTION 7
PC Interface Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
7-2 Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
7-3 Allocations for the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
7-4 Interface Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
SECTION 8
Establishing the Origin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
8-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
8-2 Input Signals Required for Origin search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
8-3 Origin Search Methods and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
8-4 Origin Search Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .494
8-5 Absolute (ABS) Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .497
8-6 ABS Encoder Origin Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
SECTION 9
Other Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
9-1 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
9-2 Debugging the Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .510
9-3 Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
9-4 Backup and Restore Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522
SECTION 10
Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

xv
TABLE OF CONTENTS
SECTION 11
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
11-1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
11-2 Countermeasures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
11-3 Error Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
11-4 Unit-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
11-5 Motion Task-related Alarm Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
11-6 Axis-related Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .602
11-7 MLK Device Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
11-8 Servo Driver Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609
11-9 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610
SECTION 12
Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 613
12-1 Routine Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

xvi
TABLE OF CONTENTS

xvii
About this Manual:
This manual describes the installation and operation of the CS1W-MCH71 Motion Control Unit (MC
Unit) 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 MC Unit. Be sure to read the precautions provided in the following
section.
Precautions provides general precautions for using the Motion Control Unit, Programmable Controller,
and related devices.
Section 1 introduces the features and system configuration of the CS1W-MCH71 CS-series Motion
Control Unit. It also describes product operating principles and provides product specifications
Section 2 provides an overview of the basic procedures required to use the CS1W-MCH71 Motion
Control Unit.
Section 3 describes the names of Unit parts and how to install and wire the CS1W-MCH71 Motion
Control Unit.
Section 4 describes the data configuration uses to set up, operate, and monitor the CS1W-MCH71
Motion Control Unit and related devices.
Section 5 describes how to transfer data between the CPU Unit and the CS1W-MCH71 Motion Con-
trol Unit and how data is stored.
Section 6 describes how to program CS1W-MCH71 Motion Control Unit operation, including the pro-
gram configuration and the specific commands used in programming.
Section 7 describes the interface area in the CPU Unit used to control and monitor the CS1W-MCH71
Motion Control Unit.
Section 8 describes how to establish the origin in the positioning system.
Section 9 describes special operations for the CS1W-MCH71 Motion Control Unit, including teaching,
program debugging, coordinate systems, and backup functions.
Section 10 provides a programming example to demonstrate how the CS1W-MCH71 Motion Control
Unit can be used.
Section 11 describes how to troubleshoot problems that may occur when using the CS1W-MCH71
Motion Control Unit.
Section 12 describes the maintenance and inspection procedures required to keep the CS1W-MCH71
Motion Control Unit in optimum condition.
!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.

xviii

xix
PRECAUTIONS
This section provides general precautions for using the CS1W-MCH71 Motion Control Unit and related devices.
The information contained in this section is important for the safe and reliable application of the CS1W-MCH71
Motion Control Unit. You must read this section and understand the information contained before attempting to set
up or operate a CS1W-MCH71 Motion Control Unit.
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
4 Application Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
5 Operating Environment Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiii
6 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv
6-4 Installation within Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . xxiv

xx
Intended Audience 1
1 Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of managing FA systems and facilities.
2 General Precautions
The user must operate the product according to the performance specifica-
tions described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amuse-
ment machines, safety equipment, and other systems, machines, and equip-
ment that may have a serious influence on lives and property if used
improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for programming and operating the Unit. Be
sure to read this manual before attempting to use the Unit and keep this man-
ual close at hand for reference during operation.
!WARNING It is extremely important that a PLC and all PLC Units be used for the speci-
fied purpose and under the specified conditions, especially in applications that
can directly or indirectly affect human life. You must consult with your OMRON
representative before applying a PLC System to the above-mentioned appli-
cations.

xxi
Safety Precautions 3
3 Safety Precautions
DANGER
Never attempt to disassemble any Units while power is being supplied.
Doing so may result in serious electronic shock.
Never touch any of the terminals while power is being supplied.
Doing so may result in serious electronic shock.
Provide safety measures in external circuits (i.e., not in the Programmable Controller or MC Unit) to ensure
safety in the system if an abnormality occurs due to malfunction of the PLC or MC unit. Not providing suffi-
cient safety measures may result in serious accidents.
• Emergency- stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external con-
trol circuits.
• The PLC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm
(FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to
ensure safety in the system.
• The PLC or MC Unit outputs may remain ON or OFF due to deposits on or burning of the output relays, or destruction of
the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure
safety in the system.
• When the 24-VDC (service power supply to the PLC) is overloaded or short-circuited, the voltage may drop result in the
outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to
ensure safety in the system.
• Provide safety measures in external circuits to ensure safety in system if an abnormality occurs due to malfunction of MC
Unit connectors.
WARNING
Execute online edit only after confirming that the cycle time extension will not cause any adverse effects.
Some input signals may not be read if the cycle time is extended.
Confirm the safety of the destination node before transferring program to the node or changing the contents
of I/O memory. Doing either of these without confirming safety may result in injury.
Do not save data into the flash memory during memory operation or while the motor is running. Otherwise,
unexpected operation may be caused.
Do not reverse the polarity of the 24-V power supply. The polarity
Must be correct. Otherwise, the motor may start running unexpectedly and may not stop.
When positioning is performed using Teaching function, positioning specification in the motion program must
be [Absolute specification].
If [Incremental specification] is specified, positioning will be executed at the different point from where
Teaching conducted.