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Discontinued On Mar. 2015

CJ1W-MCH71

CJ-series Motion Control Unit with MECHATROLINK-II interface

CJ1W-MCH71

Improve Equipment Design Efficiency and Shorten Tact Time

* Information in this page is a reference that you created on the basis of information in the product catalog before the end of production, may be different from the current situation, such as goods for / supported standards options / price / features of the product. Before using, please check the compatibility and safety system.

General Specifications

Item Specifications
Model CJ1W-MCH71
Power supply voltage 5 VDC (from Backplane)
24 VDC (from external power supply)
Voltage fluctuation tolerance 4.5 to 5.5 VDC (from Backplane)
21.6 to 26.4 VDC (from external power supply)
Internal current consumption 5 VDC 0.6 A max.
Weight (Connectors excluded) 210 g max.
Safety standards UL, CSA, C-TICK, and EC Directives.
Dimensions (mm) 90 (H) × 79.8 (W) × 65 (D) (single)
Altitude At 2,000 m elevation or lower.

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

Functions and Performance Specifications

Item Specifications
Applicable PLC CJ-series PLCs with CPU Units with unit version 2.0 or later
Type of Unit CPU Bus Unit
Mounting CPU unit or expansion rack
Number of Units One CJ1W-MCH71 Motion Control Unit requires the space of three standard Unit.
Method for
data transfer
with CPU Unit
CIO Area for CPU Bus
Unit
Occupies the area for 1 unit (25 words)
For units and tasks: 11 to 25 words (Depending on the number of motion tasks)
DM Area for CPU Bus
Unit
Occupies the area for 1 unit (100 words)
For units and tasks: 32 to 74 words (Depending on the number of motion tasks)
Custom Bit Area For axes: 0-64 words (Depending on the greatest number of the axis used)
Custom Data Area For axes: 0-128 words (Depending on the greatest number of the axis used)
Custom Data Area For General I/O: 0-1280 words (Depending on setting)
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 1, 0.1, 0.01, 0.001, 0.0001
Units 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
based on
commands
from the CPU
Unit
Servo lock/unlock Executes Servo driver lock or unlock
Jogging Executes continuous feeding independently for each axis, by means of speed set in system
parameter x override.
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.
Forced origin Forcibly sets the present position to 0 to establish it as the origin.
Absolute origin setting Sets the origin when an absolute encoder is used.
Offset value: Signed 32-bit (pulses)
Error counter reset Forcibly resets the error counter to 0.
Present position preset Sets the present position to a user-specified value.
Machine lock Prohibits the output of motion commands to the axes.
Single block Executes the motion program one block at a time.
Auto/manual change Switches between auto mode and manual mode.
Control
Operations
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 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
Circular interpolation 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
Origin search 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 positioning.
Time-specified Positioning Executes positioning with time specified.
Traverse function Performs winding operation (traverse control) with two specified axes.
Electronic Cam,
Single Axis
Execute cam operation according to the specified cam table data with reference to elapse of
time.
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.
Electronic Shaft Executes synchronous operation at a speed calculated with the speed of the specified axis and
gear ratio.
Trailing synchronous
operation
Executes trailing + synchronous operations with reference to the position of the specified axis.
Speed command Outputs speed commands to the specified axis.
Torque command Outputs torque commands to the specified axis.
Acceleration/deceleration curve Trapezoidal or S-shape
Acceleration/
deceleration
time
Acceleration/
deceleration 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 1 to 2147483647 [Command unit/min]
Interpolation feed rate 1 to 2147483647 [Command unit/min]
Override 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
(supported for unit
version 3.1 and later)
The feed rate of the following commands can be set by the motion program.
Command: Rate to which override is applied
MOVE: Rapid feed rate
DATUM: Origin return feed rate
MOVEI: Rapid feed rate, external positioning rate
MOVET: Rapid feed rate
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 registered 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 This is the position loop gain of the servo driver.
This function uses a parameter in the servo driver.
Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain.
This function uses a parameter in the Servo Driver.
Program Number of tasks Motion task: 8 tasks max.
Parallel branching in
task
Motion task: 8 branches max.
Number of programs 256 programs max. /unit
The program Nos. used for programs are from 0000 to 0999.
Program numbers 0000 to 0499: Main programs for motion tasks
0500 to 0999: Sub-programs for motion tasks
Program capacity 2 Mbytes
8000 blocks max. /unit by motion program conversion.
Number of blocks 800 blocks/program
Position data capacity 10240 points/unit
Sub-program nesting 5 levels max.
Start Starts program operation from program (of another task)
Start mode Motion task: Initial, continue, next
Deceleration stop Motion task: Executes deceleration stop regardless of block
Block stop Motion task: Executes deceleration stop at the end of the block currently being executed.
Single-block mode Motion task: the program is executed one block at a time.
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 execution 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 Watchdog, FLASH-ROM check, RAM check, etc.
Error detection function Deceleration stop input, unit number error, CPU Unit error, software limit over errors, etc.
Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as needed.
Alarm reset Alarm reset
Program and CAM data read protection
(supported 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 protection function (password setting).