OMRON CJ1W-MA - REV 10-2008 Manuals

OMRON CJ1W-MA - REV 10-2008 Manuals

Manuals and User Guides for OMRON CJ1W-MA - REV 10-2008. We have 1 OMRON CJ1W-MA - REV 10-2008 manual available for free PDF download: Operation Manual

OMRON CJ1W-MA - REV 10-2008 Operation Manual

OMRON CJ1W-MA - REV 10-2008 Operation Manual (644 pages)

Position Control Units

Brand: OMRON | Category: Control Unit | Size: 9 MB

Table of Contents

Table of Contents

8
Precautions

22
- General Precautions
  23
- Intended Audience
  23
- Safety Precautions
  23
- Operating Environment Precautions
  24
- Application Precautions
  25
- Conformance to EC Directives
  27
  - Applicable Directives
    27
  - Concepts
    27
  - Installation Within Control Panels
    27
Section 1 Features and System Configuration

28
- Features and System Configuration
  28
  - Features
    29
  - System Configuration
    30
  - Basic Operations
    31
    
    Position Control (Direct Operation)
    31
    
    Other Operations
    32
    
    Speed Control and Torque Control
    32
  - List of Functions and Specifications
    33
    
    General Specifications
    33
  - List of Functions by Purpose
    35
  - Comparison with Existing Models
    36
Section 2

38
- Basic Procedures
  38
  - Basic Flow of Operations
    39
  - Starting Operation
    43
    
    Overview of Operation
    43
    
    System Configuration and Wiring
    43
    
    Setting the PCU
    45
    
    Starting MECHATROLINK Communications
    48
    
    Setting Servo Parameters
    49
    
    Operating the Servomotor from the PCU
    52
Section 3 Installation and Wiring

58
- Installation and Wiring
  58
Section 4 Data Areas

98
- Data Areas
  98
- Overall Structure
  99
- Data Areas
  102
- Common Parameter Area
  119
  - Common Parameters Overview
    119
  - Common Parameter Details
    120
- Axis Parameter Area
  124
  - Axis Parameters Overview
    124
  - Axis Parameter Details
    125
- Servo Parameter Area
  127
  - G-Series Servo Drive (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
    127
  - W-Series Servo Drives (R88D-WT@ with JUSP-NS115)
    144
- Pn002 Function
  146
  - W-Series Servo Drive (R88D-WN@-ML2 with Built-In MECHATROLINK-II Communications)
    163
  - Appendix B
    165
  - Name Set-Explanation Ting
    165
    
    Not Used
    165
    
    SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
    186
  - Pn004 Function
    165
    
    Selection Applica- Tion
    165
    
    Switches 4
    165
  - Common Operating Memory Area
    191
    
    Common Operating Memory Area Overview
    191
    
    Common Operating Memory Area Words
    193
  - Axis Operating Output Memory Areas
    197
    
    Axis Operating Output Memory Area Overview
    197
    
    Axis Operating Output Memory Area Allocations
    198
    
    Axis Operating Output Memory Area Priority
    202
  - Axis Operating Input Memory Areas
    206
    
    Axis Operating Input Memory Area Overview
    206
    
    Axis Operating Input Memory Area Allocations
    207
    
    Axis Control Status Flags
    212
    
    Servo Status Flags
    218
    
    External I/O Status Bits
    223
    
    Expanded Monitoring
    224
Section 5 Transferring and Saving Data

228
- Transferring and Saving Data
  228
  - Transferring Data
    229
  - Transferring PCU Parameters
    231
    
    Writing PCU Parameters
    231
    
    Reading PCU Parameters
    234
    
    Saving PCU Parameters
    236
  - Transferring Servo Parameters
    237
    
    Writing Servo Parameters
    238
    
    Reading Servo Parameters
    240
    
    Saving Servo Parameters
    242
    
    Device Setup
    245
Section 6 Mechatrolink

248
- Mechatrolink
  248
Section 7 Position Control Structure

282
Section 8 Defining the Origin

300
- Defining the Origin
  300
  - Overview
    301
  - Origin Search Operation
    302
    
    Origin Search Overview
    302
    
    Origin Search Procedure
    303
    
    Data Settings Required for Origin Search
    304
    
    Origin Search Operation
    313
    
    Starting Origin Search
    321
    
    Origin Search Preset
    322
  - Present Position Preset
    323
    
    Data Settings for Present Position Preset
    324
    
    Outline of Operation
    324
  - Origin Return
    325
    
    Origin Return Data Settings
    326
  - Phase Z Margin
    330
    
    Calculating the Phase Z Margin (Example)
    330
    
    Description
    330
    
    Phase Z Margin for Specific Operation Patterns
    331
  - Absolute Encoder Origin
    332
    
    Absolute Encoder Overview
    332
    
    Absolute Encoder Operating Procedure
    333
    
    PCU Data Settings for Using Absolute Encoders
    335
    
    Absolute Encoder Setup
    337
    
    Absolute Encoder's Origin (Zero Point) Position Offset Setting
    337
    
    Establishing the Origin Using an Absolute Encoder
    340
Section 9 Positioning

344
- Direct Operation Overview
  345
- Direct Operation Procedure
  346
- PCU Data Settings for Direct Operation
  346
- Using Direct Operation
  350
  - Starting Direct Operation
    350
  - Direct Operation Timing Charts
    351
  - Changing Target Position
    355
  - Changing Target Speed
    357
- Interrupt Feeding
  358
  - Overview
    358
  - Interrupt Feeding Procedure
    358
  - Data Settings for Using Interrupt Feeding
    359
  - Timing Chart for Interrupt Feeding
    360
  - Present Position During Interrupt Feeding
    361
- Torque Limit Function
  361
- Linear Interpolation
  362
Section 10 Other Operations

376
- Servo Lock/Unlock
  377
  - Overview
    377
  - Servo Lock/Unlock Operation
    377
- Jogging
  378
  - Overview of Operation
    378
  - Procedure for Jogging Operations
    378
  - PCU Data Settings for Jogging Operations
    379
  - Starting Jogging
    381
- Override
  382
  - Overview
    382
  - Override Operation
    383
- Torque Limits
  384
  - Overview
    384
  - Constant Torque Limits
    385
  - Torque Limits Set by Operating Commands
    385
- Speed Control
  391
  - Overview
    391
  - Starting Speed Control
    391
  - Switching Control Mode
    400
- Torque Control
  402
  - Overview
    402
  - Starting Torque Control
    402
- Backlash Compensation
  408
  - Overview
    408
  - Backlash Compensation Procedure
    408
  - Backlash Compensation Data Settings
    409
- Software Limits
  410
  - Overview
    410
  - Procedure for Using Software Limits
    411
  - Software Limit Data Settings
    411
  - Software Limit Operation
    413
- Stop Functions
  415
  - Overview
    415
  - Deceleration Stop
    415
  - Emergency Stop
    417
  - Stop Function Timing Chart
    418
- Deviation Counter Reset
  420
  - Overview of DEVIATION COUNTER RESET
    420
  - Using DEVIATION COUNTER RESET
    421
Section 11 Sample Programs

424
- Sample Programs
  
  424
  - Overview
    425
  - Basic Program Examples
    426
    
    Transferring PCU Parameters
    426
    
    Starting and Stopping MECHATROLINK Communications
    431
    
    Transferring Servo Parameters
    432
    
    Servo Lock/Unlock
    439
    
    Origin Search
    440
    
    Positioning (Absolute Movement or Relative Movement)
    442
    
    Speed Control
    445
    
    Torque Control
    446
    
    Deceleration Stop or Emergency Stop
    448
    
    Jogging
    449
  - Application Examples
    451
    
    Initial PCU Settings
    451
    
    Servo Parameter Backup
    457
    
    Switching Among Position, Speed, and Torque Control
    469
- Troubleshooting
  
  482
  - Overview of PCU Errors
    483
  - Troubleshooting Procedure
    487
  - LED Error Indicators
    488
  - Error Codes
    491
  - Troubleshooting
    504
  - Error Reset
    509
  - CPU Unit Error Display
    511
- Maintenance and Inspection
  
  512
  - Inspection
    513
  - Inspection Points
    513
  - Handling Precautions
    514
  - Procedure for Replacing a PCU
    514
    
    A Performance Characteristics
    518
    
    B List of Parameters
    522
Appendix B List of Parameters

559
- C Operation Area I/O Allocations
  586
- D List of Error Codes
  598
- F Additional Functions for the CJ1W-NCF71-MA
  631
- Index
  
  632
- Revision History
  
  642

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