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Control Unit
CJ1W-NCF71
Operation manual
Omron CJ1W-NCF71 Operation Manual
Position control units
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
Precautions
General Precautions
Intended Audience
Safety Precautions
Operating Environment Precautions
Application Precautions
Conformance to EC Directives
Applicable Directives
Concepts
Installation Within Control Panels
Section 1 Features and System Configuration
Features and System Configuration
Features
System Configuration
Basic Operations
Position Control (Direct Operation)
Other Operations
Speed Control and Torque Control
List of Functions and Specifications
General Specifications
List of Functions by Purpose
Comparison with Existing Models
Section 2
Basic Procedures
Basic Flow of Operations
Starting Operation
Overview of Operation
System Configuration and Wiring
Setting the PCU
Starting MECHATROLINK Communications
Setting Servo Parameters
Operating the Servomotor from the PCU
Section 3 Installation and Wiring
Installation and Wiring
Nomenclature and Functions
Nomenclature
MECHATROLINK-II Application Module for W-Series Servo Drives
Installing the Position Control Unit
System Configuration Precautions
Unit Installation
Installation Precautions
Dimensions
External I/O Circuits
G-Series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
PCU I/O Signals
W-Series Servo Drive I/O Signals (R88D-WT@ with JUSP-NS115)
W-Series Servo Drive I/O Signals (R88D-WN@-ML2 with MECHATROLINK-II Built-In Communications)
SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
Wiring
MECHATROLINK-II Communications Wiring
Wiring the Servo Drive I/O Signals
Section 4 Data Areas
Data Areas
Overall Structure
Data Areas
Common Parameter Area
Common Parameters Overview
Common Parameter Details
Axis Parameter Area
Axis Parameters Overview
Axis Parameter Details
Servo Parameter Area
G-Series Servo Drive (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
W-Series Servo Drives (R88D-WT@ with JUSP-NS115)
Pn002 Function
W-Series Servo Drive (R88D-WN@-ML2 with Built-In MECHATROLINK-II Communications)
Appendix B
Name Set-Explanation Ting
Not Used
SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
Pn004 Function
Selection Applica- Tion
Switches 4
Common Operating Memory Area
Common Operating Memory Area Overview
Common Operating Memory Area Words
Axis Operating Output Memory Areas
Axis Operating Output Memory Area Overview
Axis Operating Output Memory Area Allocations
Axis Operating Output Memory Area Priority
Axis Operating Input Memory Areas
Axis Operating Input Memory Area Overview
Axis Operating Input Memory Area Allocations
Axis Control Status Flags
Servo Status Flags
External I/O Status Bits
Expanded Monitoring
Section 5 Transferring and Saving Data
Transferring and Saving Data
Transferring Data
Transferring PCU Parameters
Writing PCU Parameters
Reading PCU Parameters
Saving PCU Parameters
Transferring Servo Parameters
Writing Servo Parameters
Reading Servo Parameters
Saving Servo Parameters
Device Setup
Section 6 Mechatrolink
Mechatrolink
MECHATROLINK Overview
MECHATROLINK Settings
Scan List
Scan List and PCU Area Allocations
MECHATROLINK Communications Settings
MECHATROLINK Communications Control
Establishing Connections
MECHATROLINK Communications Status
MECHATROLINK Communications Errors
Rejoining the Connection
Specifying the Axes to Connect
Standard Settings for Servo Drives Using MECHATROLINK
G-Series Servo Drive Settings
With Built-In MECHATROLINK-II Communications)
W-Series Servo Drive Settings
W-Series Servo Drive Settings (R88D-WT@ Equipped with JUSP-NS115)
With Built-In MECHATROLINK-II Communications)
SMARTSTEP Junior Servo Drive Settings (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
Section 7 Position Control Structure
PCU Control System
Control System Configuration and Principles
Position Control
Control Units
Control Units for Position Control
Control Units for Speed/Torque Control
Units of the Pcu's Main Controlled Variables
Coordinate System and Present Position
Acceleration and Deceleration Operations
Overview of Acceleration/Deceleration Operations
Acceleration/Deceleration Settings
Acceleration/Deceleration Filter Settings
Origin Search Acceleration/Deceleration Operations
Acceleration and Deceleration Operations During Speed Control
Limit Input Operations
Section 8 Defining the Origin
Defining the Origin
Overview
Origin Search Operation
Origin Search Overview
Origin Search Procedure
Data Settings Required for Origin Search
Origin Search Operation
Starting Origin Search
Origin Search Preset
Present Position Preset
Data Settings for Present Position Preset
Outline of Operation
Origin Return
Origin Return Data Settings
Phase Z Margin
Calculating the Phase Z Margin (Example)
Description
Phase Z Margin for Specific Operation Patterns
Absolute Encoder Origin
Absolute Encoder Overview
Absolute Encoder Operating Procedure
PCU Data Settings for Using Absolute Encoders
Absolute Encoder Setup
Absolute Encoder's Origin (Zero Point) Position Offset Setting
Establishing the Origin Using an Absolute Encoder
Section 9 Positioning
Direct Operation Overview
Direct Operation Procedure
PCU Data Settings for Direct Operation
Using Direct Operation
Starting Direct Operation
Direct Operation Timing Charts
Changing Target Position
Changing Target Speed
Interrupt Feeding
Overview
Interrupt Feeding Procedure
Data Settings for Using Interrupt Feeding
Timing Chart for Interrupt Feeding
Present Position During Interrupt Feeding
Torque Limit Function
Linear Interpolation
Overview of Linear Interpolation Function
Linear Interpolation Operation Procedure
Setting Data for Linear Interpolation Operation
Linear Interpolation Operation
Section 10 Other Operations
Servo Lock/Unlock
Overview
Servo Lock/Unlock Operation
Jogging
Overview of Operation
Procedure for Jogging Operations
PCU Data Settings for Jogging Operations
Starting Jogging
Override
Overview
Override Operation
Torque Limits
Overview
Constant Torque Limits
Torque Limits Set by Operating Commands
Speed Control
Overview
Starting Speed Control
Switching Control Mode
Torque Control
Overview
Starting Torque Control
Backlash Compensation
Overview
Backlash Compensation Procedure
Backlash Compensation Data Settings
Software Limits
Overview
Procedure for Using Software Limits
Software Limit Data Settings
Software Limit Operation
Stop Functions
Overview
Deceleration Stop
Emergency Stop
Stop Function Timing Chart
Deviation Counter Reset
Overview of DEVIATION COUNTER RESET
Using DEVIATION COUNTER RESET
Section 11 Sample Programs
Sample Programs
Overview
Basic Program Examples
Transferring PCU Parameters
Starting and Stopping MECHATROLINK Communications
Transferring Servo Parameters
Servo Lock/Unlock
Origin Search
Positioning (Absolute Movement or Relative Movement)
Speed Control
Torque Control
Deceleration Stop or Emergency Stop
Jogging
Application Examples
Initial PCU Settings
Servo Parameter Backup
Switching Among Position, Speed, and Torque Control
Troubleshooting
Overview of PCU Errors
Troubleshooting Procedure
LED Error Indicators
Error Codes
Troubleshooting
Error Reset
CPU Unit Error Display
Maintenance and Inspection
Inspection
Inspection Points
Handling Precautions
Procedure for Replacing a PCU
A Performance Characteristics
B List of Parameters
Appendix B List of Parameters
C Operation Area I/O Allocations
D List of Error Codes
F Additional Functions for the CJ1W-NCF71-MA
Index
Revision History
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Quick Links
1
Error Codes
Download this manual
Cat. No.W426-E1-09
SYSMAC
CJ1W-NC271/NC471/
NCF71/NCF71-MA
CS1W-NC271/NC471/NCF71
Position Control Units
OPERATION MANUAL
Table of
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Chapters
Table of Contents
8
Precautions
22
Section 1 Features and System Configuration
28
Section 2
38
Section 3 Installation and Wiring
58
Section 4 Data Areas
98
Section 5 Transferring and Saving Data
228
Section 6 Mechatrolink
248
Section 7 Position Control Structure
282
Section 8 Defining the Origin
300
Section 9 Positioning
344
Section 10 Other Operations
376
Section 11 Sample Programs
424
Appendix B List of Parameters
559
Table of Contents
Troubleshooting
Troubleshooting
482
Troubleshooting Procedure
487
Troubleshooting
504
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