User Manuals: OMRON CJ1W-NCF71-MA - 12-2009 PLC Module

Manuals and User Guides for OMRON CJ1W-NCF71-MA - 12-2009 PLC Module. We have 2 OMRON CJ1W-NCF71-MA - 12-2009 PLC Module manuals available for free PDF download: Operation Manual

OMRON CJ1W-NCF71-MA - 12-2009 Operation Manual (687 pages)

Position Control Units

Brand: OMRON | Category: Control Unit | Size: 5 MB

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
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
Section 7 Position Control Structure

299
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

OMRON CJ1W-NCF71-MA - 12-2009 Operation Manual (644 pages)

Position Control Units

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

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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User Manuals: OMRON CJ1W-NCF71-MA - 12-2009 PLC Module

OMRON CJ1W-NCF71-MA - 12-2009 Operation Manual (687 pages)

Table of Contents

Table of Contents

Precautions

Section 1 Features and System Configuration

Section 2

Section 3 Installation and Wiring

Section 4 Data Areas

Section 5 Transferring and Saving Data

Section 6 Mechatrolink

Section 7 Position Control Structure

Section 8 Defining the Origin

Section 9 Positioning

Section 10 Other Operations

List of Parameters Appendix B

OMRON CJ1W-NCF71-MA - 12-2009 Operation Manual (644 pages)

Table of Contents

Table of Contents

Precautions

Section 1 Features and System Configuration

Section 2

Section 3 Installation and Wiring

Section 4 Data Areas

Section 5 Transferring and Saving Data

Section 6 Mechatrolink

Section 7 Position Control Structure

Section 8 Defining the Origin

Section 9 Positioning

Section 10 Other Operations

Section 11 Sample Programs

Sample Programs

Troubleshooting

Maintenance and Inspection

Appendix B List of Parameters

Index

Revision History

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OMRON Categories