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CJ1W-NCF71 - 12-2009
OMRON CJ1W-NCF71 - 12-2009 Manuals
Manuals and User Guides for OMRON CJ1W-NCF71 - 12-2009. We have
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OMRON CJ1W-NCF71 - 12-2009 manual available for free PDF download: Operation Manual
OMRON CJ1W-NCF71 - 12-2009 Operation Manual (687 pages)
Position Control Units
Brand:
OMRON
| Category:
Control Unit
| Size: 5.45 MB
Table of Contents
Table of Contents
9
Precautions
23
General Precautions
24
Intended Audience
24
Safety Precautions
24
Operating Environment Precautions
25
Application Precautions
26
Applicable Directives
28
Concepts
28
Conformance to EC Directives
28
Installation Within Control Panels
28
Section 1 Features and System Configuration
29
Features and System Configuration
29
Features
30
System Configuration
31
Basic Operations
32
Position Control (Direct Operation)
32
Other Operations
33
Speed Control and Torque Control
33
General Specifications
34
List of Functions and Specifications
34
List of Functions by Purpose
36
Comparison with Existing Models
37
Section 2
39
Basic Procedures
39
Basic Flow of Operations
40
Overview of Operation
44
Starting Operation
44
System Configuration and Wiring
44
Setting the PCU
46
Starting MECHATROLINK Communications
49
Setting Servo Parameters
50
Operating the Servomotor from the PCU
53
Section 3 Installation and Wiring
59
Installation and Wiring
59
Nomenclature
60
Nomenclature and Functions
60
MECHATROLINK-II I/F Unit for W-Series Servo Drives
61
Installing the Position Control Unit
63
System Configuration Precautions
63
Unit Installation
63
Installation Precautions
65
Dimensions
66
External I/O Circuits
67
G5-Series Servo Drive I/O Signals (R88D-KN@-ML2 with Built-In MECHATROLINK-II Communications)
68
PCU I/O Signals
68
G-Series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
71
W-Series Servo Drive I/O Signals (R88D-WT@ with FNY-NS115)
75
W-Series Servo Drive I/O Signals (R88D-WN@-ML2 with MECHATROLINK-II Built-In Communications)
78
SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
81
MECHATROLINK-II Communications Wiring
84
Wiring
84
Wiring the Servo Drive I/O Signals
86
Section 4 Data Areas
103
Data Areas
103
Overall Structure
104
Data Areas
107
Common Parameter Area
124
Common Parameters Overview
124
Common Parameter Details
125
Axis Parameter Area
129
Axis Parameters Overview
129
Axis Parameter Details
130
G5-Series Servo Drive
132
MECHATROLINK-II Communications)
132
Servo Parameter Area
132
G-Series Servo Drive (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
144
W-Series Servo Drives (R88D-WT@ with FNY-NS115)
160
W-Series Servo Drive (R88D-WN@-ML2 with Built-In MECHATROLINK-II Communications)
179
SMARTSTEP Junior Servo Drive (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
202
Common Operating Memory Area
207
Common Operating Memory Area Overview
207
Common Operating Memory Area Words
209
Axis Operating Output Memory Area Overview
213
Axis Operating Output Memory Areas
213
Axis Operating Output Memory Area Allocations
214
Axis Operating Output Memory Area Priority
218
Axis Operating Input Memory Area Overview
222
Axis Operating Input Memory Areas
222
Axis Operating Input Memory Area Allocations
223
Axis Control Status Flags
228
Servo Status Flags
234
External I/O Status Bits
239
Expanded Monitoring
240
Section 5 Transferring and Saving Data
245
Transferring and Saving Data
245
Transferring Data
246
Transferring PCU Parameters
248
Writing PCU Parameters
248
Reading PCU Parameters
251
Saving PCU Parameters
253
Transferring Servo Parameters
254
Writing Servo Parameters
255
Reading Servo Parameters
257
Saving Servo Parameters
259
Device Setup
262
Section 6 Mechatrolink
265
Mechatrolink
265
MECHATROLINK Overview
266
MECHATROLINK Settings
267
Scan List
267
Scan List and PCU Area Allocations
269
MECHATROLINK Communications Settings
271
Establishing Connections
276
MECHATROLINK Communications Control
276
MECHATROLINK Communications Status
277
MECHATROLINK Communications Errors
282
Rejoining the Connection
286
Specifying the Axes to Connect
289
G5-Series Servo Drive Settings
291
Standard Settings for Servo Drives Using MECHATROLINK
291
With Built-In MECHATROLINK-II Communications)
291
G-Series Servo Drive Settings
292
With Built-In MECHATROLINK-II Communications)
292
W-Series Servo Drive Settings
293
W-Series Servo Drive Settings (R88D-WT@ Equipped with FNY-NS115)
293
With Built-In MECHATROLINK-II Communications)
296
SMARTSTEP Junior Servo Drive Settings (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
297
Section 7 Position Control Structure
299
Control System Configuration and Principles
300
PCU Control System
300
Position Control
300
Control Units
301
Control Units for Position Control
301
Control Units for Speed/Torque Control
302
Units of the Pcu's Main Controlled Variables
303
Coordinate System and Present Position
304
Acceleration and Deceleration Operations
305
Overview of Acceleration/Deceleration Operations
305
Acceleration/Deceleration Settings
306
Acceleration/Deceleration Filter Settings
308
Origin Search Acceleration/Deceleration Operations
312
Acceleration and Deceleration Operations During Speed Control
313
Limit Input Operations
314
Section 8 Defining the Origin
319
Defining the Origin
319
Overview
320
Origin Search Operation
321
Origin Search Overview
321
Origin Search Procedure
322
Data Settings Required for Origin Search
323
Origin Search Operation
333
Starting Origin Search
342
Origin Search Preset
343
Data Settings for Present Position Preset
345
Outline of Operation
345
Present Position Preset
345
Origin Return
347
Origin Return Data Settings
347
Calculating the Phase Z Margin (Example)
352
Description
352
Phase Z Margin
352
Phase Z Margin for Specific Operation Patterns
353
Absolute Encoder Origin
354
Absolute Encoder Overview
354
Absolute Encoder Operating Procedure
355
PCU Data Settings for Using Absolute Encoders
357
Absolute Encoder Setup
359
Absolute Encoder's Origin (Zero Point) Position Offset Setting
360
Establishing the Origin Using an Absolute Encoder
362
Section 9 Positioning
365
Positioning
365
Direct Operation Overview
366
Direct Operation Procedure
367
PCU Data Settings for Direct Operation
367
Starting Direct Operation
371
Using Direct Operation
371
Direct Operation Timing Charts
372
Changing Target Position
376
Changing Target Speed
378
Interrupt Feeding
379
Interrupt Feeding Procedure
379
Overview
379
Data Settings for Using Interrupt Feeding
380
Timing Chart for Interrupt Feeding
381
Present Position During Interrupt Feeding
382
Torque Limit Function
382
Linear Interpolation
383
Overview of Linear Interpolation Function
383
Linear Interpolation Operation Procedure
385
Setting Data for Linear Interpolation Operation
386
Linear Interpolation Operation
391
Section 10 Other Operations
397
Overview
398
Servo Lock/Unlock
398
Servo Lock/Unlock Operation
398
Jogging
399
Overview of Operation
399
Procedure for Jogging Operations
399
PCU Data Settings for Jogging Operations
400
Starting Jogging
403
Override
404
Override Operation
404
Overview
404
Overview
405
Torque Limits
405
Constant Torque Limits
406
Torque Limits Set by Operating Commands
407
Overview
413
Speed Control
413
Starting Speed Control
413
Switching Control Mode
424
Overview
426
Starting Torque Control
426
Torque Control
426
Backlash Compensation
433
Backlash Compensation Procedure
433
Overview
433
Backlash Compensation Data Settings
434
Overview
436
Procedure for Using Software Limits
436
Software Limits
436
Software Limit Data Settings
437
Software Limit Operation
438
Deceleration Stop
440
Overview
440
Stop Functions
440
Emergency Stop
442
Stop Function Timing Chart
443
Deviation Counter Reset
446
Overview of DEVIATION COUNTER RESET
446
Using DEVIATION COUNTER RESET
447
Sample Programs
449
Overview
450
Basic Program Examples
451
Application Examples
476
Troubleshooting
507
Overview of PCU Errors
508
Troubleshooting Procedure
512
LED Error Indicators
513
Error Codes
516
Troubleshooting
529
Error Reset
534
CPU Unit Error Display
536
Maintenance and Inspection
537
Inspection
538
Inspection Points
538
Handling Precautions
539
Procedure for Replacing a PCU
539
A Performance Characteristics
543
B List of Parameters
547
Tion
583
Ing Com
585
Range
585
Ing Com
586
List of Parameters Appendix B
621
Range
623
Not Used
625
C Operation Area I/O Allocations
625
Com
629
Emergency
629
Stop (STOP)
629
Mand
634
Unit
636
D List of Error Codes
637
Com
658
Unit
664
F Additional Functions for the CJ1W-NCF71-MA
674
Index
675
Revision History
685
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