WS02-MOPC2 [OMRON]

Improve Equipment Design Efficiency and Shorten Tact Time; 提高设备的设计效率，缩短生产节拍


型号：	WS02-MOPC2
厂家：	OMRON ELECTRONICS LLC
描述：	Improve Equipment Design Efficiency and Shorten Tact Time 提高设备的设计效率，缩短生产节拍
文件：	总11页 (文件大小：709K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

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CSM_CJ1W-MCH71_DS_E_4_1

Improve Equipment Design Efficiency and

Shorten Tact Time

• Control Servos for up to 16 axes in a motion network with one

Position Control Unit that supports MECHATROLINK-II *

* MECHATROLINK-II is a registered trademark of the MECHATROLINK Members

Association.

CJ1W-MCH71

Features

• High-precision motion control with less wiring using MECHATROLINK-II Servo communications with superior concurrency.

• Many synchronization and axis control commands are supported to aid existing synchronized control applications and improve motion control

tact time.

• Program control commands (such as branching commands) and various arithmetic operations are supported for maximum motion programming

efficiency.

System Configuration

Programmable Terminals

NS-series

Support Tool

CX-Motion-MCH

Programmable Controller

CJ-series

Motion Control Unit CJ1W-MCH71

50m max.

30 axes max.

30 axes max., overall cable length:50m

OMNUC W series

AC Servo Drive with

General-purpose Pulse

or Analog inputs

(R88D-WT)

Sensors

(limit inputs, origin

proximity inputs, etc.)

MECHATROLINK-II

Interface Unit

(FNY-NS115)

OMNUC W series

AC Servo Drives with

Built-in MECHATROLINK-II

Communications

SMARTSTEP Junior

AC Servo motor

(R88M-G)

AC Servo Drives with

Built-in MECHATROLINK-II

Communications

(R88D-WN -ML2)

(R7D-ZN -ML2)

Connect a JEPMC-W6022 Terminator to the device

at the end of the MECHATROLINK-II network.

AC Servo motor(R88M-W)

AC Servo motor(R7M-Z)

Note: OMNUC G5 series and G series cannot be connected with CJ1W-MCH71.

CJ1W-MCH71

Ordering Information

International Standards

• The standards are abbreviated as follows: U: UL, U1: UL(Class I Division 2 Products for Hazardous Locations), C: CSA, UC: cULus, UC1: cULus (Class I Division

2 Products for Hazardous Locations), CU: cUL, N: NK, L: Lloyd, and CE: EC Directives.

• Contact your OMRON representative for further details and applicable conditions for these standards.

CJ-series

No. of

unit

numbers

allocated

Current

consumption (A)

Unit type

Product name

Specifications

Model

Standards

5 V

24 V

Motion Control Unit

with MECHA-

Control modes : Position, speed, or torque control via

TROLINK-II interface

MECHATROLINK-II

CJ1 CPU

Bus Units

Control axes : 32 axes max. (30 physical axes, 2 virtual

axes)

---

CJ1W-MCH71

UC1, CE

0.60

Internal programming language: Special motion control

language

Note: This unit cannot be used with the Machine Automation Controller NJ-series.

Support Software

Number of

licenses

Product name

Specifications

Media

Model

Standards

The CX-One is a comprehensive software package

that integrates Support Software for OMRON PLCs

and components. CX-One runs on the following OS.

OS: Windows XP (Service Pack 3 or higher), Vista or 7

Note: Except for Windows XP 64-bit version

FA Integrated Tool

Package CX-One Ver. 4.

1 license

DVD

CXONE-AL01D-V4

---

CX-One Ver. 4. includes CX-Motion-MCH Ver. 2..

For details, refer to the CX-One catalog (Cat. No. R134).

Windows 98SE/Me/NT4.0 (Service Pack6a)/ 2000

(Service Pack 3a or higher), or XP

CAM Data Creation Tool

1 licence

WS02-MOPC2

---

*1. Multi licenses are available for the CX-One (3, 10, 30, or 50 licenses).

*2. The CX-One is also available on CD (CXONE-AL@@C-V4).

MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation)

Name

OMRON model number

Yaskawa model number

MECHATROLINK-II Interface Unit

24-VDC I/O Module

For W-series Servo Driver

FNY-NS115

JUSP-NS115

Input : 64

Output : 64

FNY-IO2310

JEPMC-IO2310

Counter Module

Reversing Counter 2CH

FNY-PL2900

JEPMC-PL2900

Pulse Output Module

Pulse Positioning 2CH

FNY-PL2910

JEPMC-PL2910

0.5 m

FNY-W6003-A5

FNY-W6003-01

FNY-W6003-03

FNY-W6003-05

FNY-W6003-10

FNY-W6003-20

FNY-W6003-30

FNY-W6022

JEPMC-W6003-A5

JEPMC-W6003-01

JEPMC-W6003-03

JEPMC-W6003-05

JEPMC-W6003-10

JEPMC-W6003-20

JEPMC-W6003-30

JEPMC-W6022

1.0 m

3.0 m

5.0 m

MECHATROLINK-II Cables

(with ring core and USB connector on both ends)

10.0 m

20.0 m

30.0 m

MECHATROLINK-II Terminating Resistor

MECHATROLINK-II Repeater

Terminating resistance

Communications Repeater

FNY-REP2000

JEPMC-REP2000

Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON

using the OMRON model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.)

Accessories

None

Mountable Racks

NJ system

CPU Rack Expansion Rack

Not supported

CJ system (CJ1, CJ2)

Expansion

Backplane

CP1H system

CP1H PLC

NSJ system

Model

Expansion

Backplane

CPU Rack

NSJ Controller

12 Units max per CPU Unit

(3 Units per Rack)

CJ1W-MCH71

2 Units *

Not supported

10 Units

* A CP1W-EXT01 CJ Unit Adaptor is required.

CJ1W-MCH71

Specifications

General Specifications

Item

Specifications

Model

CJ1W-MCH71

5 VDC (from Backplane)

Power supply voltage

24 VDC (from external power supply)

4.5 to 5.5 VDC (from Backplane)

21.6 to 26.4 VDC (from external power supply)

5 VDC 0.6 A max.

Voltage fluctuation tolerance

Internal current consumption

Weight (Connectors excluded)

Safety standards

210 g max.

UL, CSA, C-TICK, and EC Directives.

90 (H) × 79.8 (W) × 65 (D) (single)

At 2,000 m elevation or lower.

Dimensions (mm)

Altitude

Specifications other than those shown above conform to the general specifications for the CJ series.

Functions and Performance Specifications

Item

Specifications

CJ-series PLCs with CPU Units with unit version 2.0 or later

CPU Bus Unit

Applicable PLC

Type of Unit

Mounting

CPU unit or expansion rack

Number of Units

One CJ1W-MCH71 Motion Control Unit requires the space of three standard Unit.

Occupies the area for 1 unit (25 words)

Method for data

transfer with CPU

Unit

CIO Area for CPU Bus

Unit

For units and tasks: 11 to 25 words (Depending on the number of motion tasks)

Occupies the area for 1 unit (100 words)

DM Area for CPU Bus

Unit

For units and tasks: 32 to 74 words (Depending on the number of motion tasks)

For axes: 0-64 words (Depending on the greatest number of the axis used)

For axes: 0-128 words (Depending on the greatest number of the axis used)

For General I/O: 0-1280 words (Depending on setting)

Custom Bit Area

Custom Data Area

Controlled Devices

MECHATROLINK-II below supported

• W-series Servo Driver with built-in communications functions

• W-series Servo Driver (OMRON) + Communications I/F Unit (YASKAWA)

• Various I/O units (YASKAWA)

• SMARTSTEP Junior Servo Drive

Up to 30 nodes

* When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50m), a

repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the

cases described above.

Built-in program language

Dedicated motion control language

Control

Control method

MECHATROLINK-II

• Position commands, Speed commands, Torque commands

Number of controlled

axes

32 axes max.

Physical axes/Virtual axes: 30 axes max. (Either can be selected for each axis)

Dedicated for virtual axes: 2 axes

Operating modes

RUN mode, CPU mode, Tool mode/System (Depending on the tool)

Automatic/Manual Mode

Automatic mode: Executing built-in programs of MC Unit controls motion.

Manual mode: Executing commands from CPU Unit (PC interface area) controls motion.

Note: The Automatic or Manual Mode is set according to the PC Interface area of the CPU Unit.

Control unit

Minimum setting unit

Units

1, 0.1, 0.01, 0.001, 0.0001

mm, inch, deg, pulse

Maximum position command value

-2147483647 to 2147483647 pulses (signed 32-bit)

Mode for unlimited axes feeding is possible.

Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001 mm, 10 mm/rev, the position

command value range will be from -327679999 to 327679999 command units.

Control operations Servo lock/unlock

based on com-

Executes Servo driver lock or unlock

Jogging

Executes continuous feeding independently for each axis, by means of speed set in system parameter x over-

ride.

mands from the

CPU Unit

STEP operation

Feeds a specified distance for a specified axis.

Origin search

Defines the machines origin according to the search method set in the system parameters.

Forcibly sets the present position to 0 to establish it as the origin.

Forced origin

Absolute origin setting

Sets the origin when an absolute encoder is used.

Offset value: Signed 32-bit (pulses)

Error counter reset

Present position preset

Machine lock

Forcibly resets the error counter to 0.

Sets the present position to a user-specified value.

Prohibits the output of motion commands to the axes.

Executes the motion program one block at a time.

Switches between auto mode and manual mode.

Single block

Auto/manual change

CJ1W-MCH71

Item

Specifications

Control Opera-

tions according to

motion program

Positioning (PTP)

Executes positioning independently for each axis at the speed set in the system parameters.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /unit

Linear interpolation

Circular interpolation

Origin search

Executes linear interpolation for up to 8 axes simultaneously at the specified interpolation speed.

Simultaneous specification: 8 axes max. /block

Simultaneous execution: 32 blocks max. /system

Executes clockwise or counterclockwise circular interpolation for two axes at their specified interpolation speed.

Simultaneous specification: 2 or 3 axes/block

Simultaneous execution: 16 blocks max. /system

Defines the machine origin according to the search method set in the system parameters.

An offset can be specified for the position after the origin search.

The absolute encoder can also execute origin search.

Interrupt feeding

By means of inputs to the servo driver, moves a specified axis for a specified travel distance to perform position-

ing.

Time-specified Position-

ing

Executes positioning with time specified.

Traverse function

Performs winding operation (traverse control) with two specified axes.

Execute cam operation according to the specified cam table data with reference to elapse of time.

Electronic Cam,

Single Axis

Synchronous Electronic

cam

Executes cam operation according to the specified cam table data with reference to the position of the specified

axis.

Link operation

Executes link operation according to set conditions with reference to the position of the specified axis.

Executes synchronous operation at a speed calculated with the speed of the specified axis and gear ratio.

Electronic Shaft

Trailing synchronous

operation

Executes trailing + synchronous operations with reference to the position of the specified axis.

Speed command

Torque command

Outputs speed commands to the specified axis.

Outputs torque commands to the specified axis.

Trapezoidal or S-shape

Acceleration/deceleration curve

Acceleration/

deceleration time

Acceleration/decelera-

tion time

60000 ms max.

S-shape time constant

30000 ms max.

External I/O

For high-speed servo

communication bus

One port for MECHATROLINK-II

Servo encoder

Incremental rotary encoder

Absolute rotary encoder (Unlimited length ABS supported with some conditions)

I/O

Deceleration stop input (or servo-OFF stop): 1 pt

General input: 2 pts

General output: 2 pts

External power supply

for I/O

24 V

Feed rate

Rapid feed rate

Interpolation feed rate

Override

1 to 2147483647 [Command unit/min]

Changes the operation speed by applying a given factor to the speed specified by the system parameters or the

motion program.

0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task)

Internal override (sup-

ported for unit version

3.1 and later)

The feed rate of the following commands can be set by the motion program.

Command

MOVE

Rate to which override is applied

Rapid feed rate

DATUM

MOVEI

Origin return feed rate

Rapid feed rate, external positioning rate

Rapid feed rate

MOVET

The actual feed rate is calculated using the following formula.

Actual feed rate = Axis feed rate × (Axis override + Internal override)

Axis control

Backlash compensation

Compensates mechanical backlash (the mechanical play between driving and driven axes) with a value regis-

tered in advance.

This function uses a parameter in the servo driver.

In-position

This function is used whether a positioning is completed or not.

This function uses a parameter in the servo driver.

Position loop gain

Feed forward gain

This is the position loop gain of the servo driver.

This function uses a parameter in the servo driver.

The command values created in the MC Unit are multiplied by this feed forward gain.

This function uses a parameter in the Servo Driver.

CJ1W-MCH71

Item

Specifications

Program

Number of tasks

Motion task: 8 tasks max.

Parallel branching in task Motion task: 8 branches max.

Number of programs

Program numbers

Program capacity

256 programs max. /unit

The program Nos. used for programs are from 0000 to 0999.

0000 to 0499: Main programs for motion tasks

0500 to 0999: Sub-programs for motion tasks

2 Mbytes

8000 blocks max. /unit by motion program conversion.

Number of blocks

Position data capacity

Sub-program nesting

Start

800 blocks/program

10240 points/unit

5 levels max.

Starts program operation from program (of another task)

Motion task: Initial, continue, next

Motion task: Executes deceleration stop regardless of block

Start mode

Deceleration stop

Block stop

Motion task: Executes deceleration stop at the end of the block currently being executed.

Motion task: the program is executed one block at a time.

Single-block mode

Breakpoints (supported

for unit version 3.0 and

later.)

Breakpoints can be set for any block using the Support Tool. When a breakpoint is set for a block, program exe-

cution will stop after that block has been executed.

Saving program

data

MC Unit

Flash memory backup

Zones (supported for unit version 3.0 and

later.)

The zone bit turns ON when any variable (including feedback present position, feedback speed, etc.) is within

the set range, and OFF when outside of the set range.

A maximum of 32 zones can be set.

Data tracing (supported for unit version 3.0

and later.)

A maximum of two groups can be simultaneously traced, with 1 to 16 data items in each group.

Note: The items that can be traced are bits and data. These are each handled as a single item.

The number of data samples that can be collected is 2,048 samples when 16 items are set for tracing to 32,768

when only 1 item is set for tracing.

Self-diagnostic function

Error detection function

Error log function

Alarm reset

Watchdog, FLASH-ROM check, RAM check, etc.

Deceleration stop input, unit number error, CPU Unit error, software limit over errors, etc.

The error log is to be read from the CPU Unit by means of the IORD instructions as needed.

Alarm reset

Program and CAM data read protection (sup-

ported for unit version 3.1 and later)

Third party access to program and CAM data can be restricted using the CX-Motion-MCH version 2.1 read pro-

tection function (password setting).

CJ1W-MCH71

Functions

Electronic Shaft (Electronic Gear) (CONNECT)

This function synchronizes with the main axis at the specified gear

ratio. It allows for reductions in mechanical functions and labor

requirements for machinery maintenance.

Electronic Links (SYNC)

This function enables the specified synchronized operation with

acceleration at the start of synchronization, a ratio during

synchronization, and deceleration at the end of synchronization.

These specifications are specific for the actual application operation,

enabling easy achievement of various types of synchronization

operations.

Electronic Cam (CAM, CAMBOX)

An independent electronic cam can be positioned according to

execution times specified in the cam data, and a synchronized

electronic cam can be operated according to a cam table in

synchronization with a specified main axis. A total of 16,000 points for

all Units combined can be included for the cam data, and 32 cam

tables can be set, enabling complex operations.

Amount of main axis travel during acceleration

Amount of

Master axis

main axis

travel during

deceleration

Virtual Axes

Any axis can be set as an axis performing an ideal movement. Setting

it as the main axis for synchronized control simplifies design and

debugging of programs and adjustment of synchronized operations.

Also, when slippage occurs in motor operation and workpiece

operation, the amount of compensation (for the amount of slippage)

can be set as the target value for the virtual axis, and the

compensation operation can be easily executed by means of the add

axis travel function.

Slave axis

Other Operations

Various applications are made possible by means of a wide range of

commands, such as MOVE TIME (MOVET), CHANGE TARGET

(MOVEMODI), LATCH (LATCH: With hardware latch and window

functions), TRAVERSE (MOVETRAV), TORQUE (TORQUE,

TORQUER), SPEED (SPEED, SPEEDR).

Add Axis Travel (ADDAX, ADDAXR)

This function adds the operation of a superimposed axis to a specified

axis, making it easy to perform compensation in feeder and

synchronization operations.

Superimposed

axis

Specified axis

Start (ADDAX)

Stop (ADDAXR)

Follow-up Synchronization (SYNC, SYNCR)

From standby status, this function starts follow-up operation when the

marker sensor turns ON and executes follow-up synchronization with

the main axis. This is ideal for applications that process workpieces

without stopping the line.

Follow-up operation interval

Follow-up synchronization interval

Master axis

Follow-up operation

travel amount

Slave axis

SYNC command

Marker sensor ON

SYNCR command

CJ1W-MCH71

Commands

Classification

Name

Command

Function

MOVE, LINEAR INTERPOLATION,

CIRCULAR INTERPOLATION

MOVE, MOVEL, MOVEC

Moves axes individually, or using linear or circular interpolation.

ORIGIN SEARCH

INTERRUPT INCHING

MOVE TIME

DATUM

Finds the machine origin according to input signals.

Changes the position by inching according to input signals.

Positions according to a specified time.

MOVEI

Axis

movement

MOVET

TRAVERSE

MOVETRAV

Executes a winding operation.

INDEPENDENT ELECTRONIC

CAM

Executes cam operations according to a table.

LINK

MOVELINK

CAMBOX

CONNECT

Synchronizes with the main axis with acceleration and deceleration.

Executes a cam operation according to a table and main axis.

SYNCHRONIZED ELECTRONIC

CAM

ELECTRONIC SHAFT

Synchronizes at fixed rate to main axis.

Starting and

stoppingaxis

operations

FOLLOW-UP SYNCHRONIZATION SYNC

Follows and synchronizes with the main axis.

Stops MOVELINK, CAMBOX, CONNECT, and SYNC.

STOP SYNCHRONIZATION

SYNCR

Starts and stops the accumulation of travel amounts between

axes.

ADD AXIS TRAVEL

ADDAX, ADDAXR

START SPEED, END SPEED

START TORQUE, END TORQUE

CHANGE TARGET

SPEED, SPEEDR

TORQUE, TORQUER

MOVEMODI

Outputs and stops a speed reference.

Outputs and stops a torque reference.

Changes the target position for the axis that is travelling.

ABSOLUTE SPECIFICATION,

INCREMENTAL SPECIFICATION

ABL, INC

Handles coordinates as absolute or incremental values.

CHANGE PARAMETER

PASS MODE

PARAM

Changes parameter values at one time.

PASSMODE

STOPMODE

Specifies operations with interpolation blocks connected.

Waits for the interpolation block to be in position.

STOP MODE

Settings

SELECT MACHINE COORDINATE

SYSTEM, SELECT WORKPIECE

COORDINATE SYSTEM

Selects either the machine coordinate system or the workpiece

coordinate system.

ORIGIN, WORK

CHANGE WORKPIECE ORIGIN

OFFSET

OFFPOS

Changes the offset of the workpiece coordinate system.

LATCH

NSTOP

Latches the present position.

Ignores single block mode.

IGNORE SINGLE BLOCK

PROGRAM START, PROGRAM

END

PROG, END

Marks the beginning or end of a program.

SUBPROGRAM CALL,

SUBPROGRAM END

Calls a subprogram or ends a subprogram and returns to the

source of the call.

GOSUB, RETURN

DWELL, WAIT

Waits for a specified length of time or for a specified condition to

be met and then executes the next block.

DWELL, WAIT

OPTIONAL END

STOPOP

Stops the block being executed when a specified condition is met.

Branches according to conditions.

Conditional Branching

WHILE Repeat Commands

IF, ELS, ENDIF

WHILE, WEND

Controls

Repeats until any specified condition is met.

Repeats until specified count (constant, variable, or immediate) is

met.

FOR Repeat Commands

Parallel Execution

FOR, NEXT

PARALLEL, JOINT, JWAIT

Executes in parallel for the specified interval.

SWITCH, CASE, BREAK, DEFAULT,

SEND

Switches and executes the specified section according to

conditions.

Selected Execution

NO OPERATION SINGLE,

NO OPERATION MULTIPLE

NOPS, NOPM

Nothing is executed. (Single or multiple execution command)

SUBSTITUTION

Arithmetic Operations

REMAINDER

Substitutes values for variables.

Simple

operations

Performs addition, subtraction, multiplication, division, and power

operations.

+, - , ∗ , / , ^

Finds the remainder in division operations.

Logical

operations

OR/XOR/AND/NOT

|, ., &, !

Performs logical OR, XOR, AND, and NOT operations.

ABSOLUTE

ABS

Finds the absolute value.

SINE, COSINE, ASINE, ACOSINE

TANGENT, ATANGENT

SIN, COS, ASIN, ACOS

TAN, ATAN

Finds the sine, cosine, arcsine, or arccosine.

Finds the tangent or arctangent.

Functions

SQUARE ROOT, EXPONENT,

LOGARITHM

SQR, EXP, LOG

Finds the square root, exponent, or logarithm.

FRACTION

FRAC

Finds the decimal portion.

SIGN

SGN

1 if greater than 0, and -1 if negative.

Turns a specified bit ON or OFF.

BIT ON, BIT OFF

RIGHT SHIFT, LEFT SHIFT

BCD → BIN/BIN → BCD

SET, RESET

SFTR, SFTL

BIN, BCD

Bit

operations

Shifts right or left for the specified number of bits.

Converts from BCD to binary, or from binary to BCD.

Data

operations

BLOCK TRANSFER, BLOCK

CLEAR

XFER, CLEAR

Transfers or clears a block of data.

CJ1W-MCH71

External Interface

MCH71

RUN

ERC

ER1

ER2

ERH

ER3

ER4

LED Indicators

MLK

SSI

UNIT

No.

UNIT No. Setting

switch

MLK

MECHATROLINK-II

connector

T.B connector,

SSI connector

(Cannot be used)

SSI

I/O

I/O connector

LED Indicators

Name

Color

Status

Lit

Content

Motion Control Unit is operating normally.

Not recognized by PLC, or MC Unit is broken.

An error has occurred in the MC Unit.