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SYSMAC CJ1W-NCF71
Omron SYSMAC CJ1W-NCF71 Manuals
Manuals and User Guides for Omron SYSMAC CJ1W-NCF71. We have
2
Omron SYSMAC CJ1W-NCF71 manuals available for free PDF download: Operation Manual
OMRON SYSMAC CJ1W-NCF71 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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OMRON SYSMAC CJ1W-NCF71 Operation Manual (644 pages)
Position Control Units
Brand:
OMRON
| Category:
Control Unit
| Size: 9.14 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
Nomenclature and Functions
59
Nomenclature
59
MECHATROLINK-II Application Module for W-Series Servo Drives
60
Installing the Position Control Unit
62
System Configuration Precautions
62
Unit Installation
62
Installation Precautions
64
Dimensions
65
External I/O Circuits
66
G-Series Servo Drive I/O Signals (R88D-GN@-ML2 with Built-In MECHATROLINK-II Communications)
67
PCU I/O Signals
67
W-Series Servo Drive I/O Signals (R88D-WT@ with JUSP-NS115)
71
W-Series Servo Drive I/O Signals (R88D-WN@-ML2 with MECHATROLINK-II Built-In Communications)
74
SMARTSTEP Junior Servo Drive I/O Signals (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
77
Wiring
80
MECHATROLINK-II Communications Wiring
80
Wiring the Servo Drive I/O Signals
82
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
MECHATROLINK Overview
249
MECHATROLINK Settings
250
Scan List
250
Scan List and PCU Area Allocations
252
MECHATROLINK Communications Settings
254
MECHATROLINK Communications Control
259
Establishing Connections
259
MECHATROLINK Communications Status
260
MECHATROLINK Communications Errors
265
Rejoining the Connection
269
Specifying the Axes to Connect
272
Standard Settings for Servo Drives Using MECHATROLINK
274
G-Series Servo Drive Settings
274
With Built-In MECHATROLINK-II Communications)
274
W-Series Servo Drive Settings
275
W-Series Servo Drive Settings (R88D-WT@ Equipped with JUSP-NS115)
275
With Built-In MECHATROLINK-II Communications)
278
SMARTSTEP Junior Servo Drive Settings (R7D-ZN@-ML2 with Built-In MECHATROLINK-II Communications)
279
Section 7 Position Control Structure
282
PCU Control System
283
Control System Configuration and Principles
283
Position Control
283
Control Units
284
Control Units for Position Control
284
Control Units for Speed/Torque Control
285
Units of the Pcu's Main Controlled Variables
286
Coordinate System and Present Position
287
Acceleration and Deceleration Operations
288
Overview of Acceleration/Deceleration Operations
288
Acceleration/Deceleration Settings
289
Acceleration/Deceleration Filter Settings
291
Origin Search Acceleration/Deceleration Operations
294
Acceleration and Deceleration Operations During Speed Control
295
Limit Input Operations
297
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
Overview of Linear Interpolation Function
362
Linear Interpolation Operation Procedure
364
Setting Data for Linear Interpolation Operation
365
Linear Interpolation Operation
370
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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