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Industrial Automation

Industrial Automation

CJ1W-NC[]71

CJ-series Position Control Unit with MECHATROLINK-II interface

CJ1W-NC[]71

Decrease TCO with Simple Operation, Reduced Wiring, Batch Settings, and Batch Management

General Specifications

Item Specifications
Model CJ1W-NC271/471/F71 (-MA)
Internal current consumption 360 mA max. at 5 V DC
Dimensions 31 × 90 × 65 mm (W × H × D)
Weight 95 g max.
Ambient operating temperature 0 to 55°C
Approved standards CE, cULus, and C-tick

Specifications not listed above conform to general CJ Series specifications.

Functions and Specifications

Item Specifications
Unit classification CPU Bus Unit
Applicable PLCs CJ Series
Possible unit number settings 0 to F
I/O
allocations
Common Operating
Memory Area
Words allocated in CPU Bus Unit Area: 25 words (15 output words, 10 input words)
Axis Operating
Memory Area
Allocated in one of the following areas (user-specified):
CIO, Work, Auxiliary, Holding, DM, or EM Area.
Number of words allocated: 50 words (25 output words, 25 input words) × Highest
axis No. used
Compatible devices OMRON G5-series Servo Drives (Built-in MECHATROLINK-II communications)
OMRON G-series Servo Drives (Built-in MECHATROLINK-II communications)
Control method Control commands executed using MECHATROLINK-II synchronous communications.
Maximum number of controlled
axes
CJ1W-NC271: 2 axes, CJ1W-NC471: 4 axes, CJ1W-NCF71: 16 axes
Control
units
Position command
unit
Command unit:Depends on the Electronic Gear Setting in the Servo Parameters.
Default setting: Pulses
Speed command
unit for position
control
Command units/s
Acceleration/
deceleration
speeds for position
control
10,000 command units/s2
Speed command
unit for speed
control
0.001% of the motor's momentary maximum rotation speed
Torque command
unit for torque
control
0.001% of the motor's momentary maximum torque
Control
command
range
Position command
range
2,147,483,648 to 2,147,483,647 (command units)
Speed command
range for position
control
0 to 2,147,483,647 (command units/s)
Acceleration/
deceleration
speeds for position
control
1 to 65,535 (10,000 command units/s2)
Speed command
range for speed
control
-199.999% to 199.999%
The upper limit of the speed command range depends on the specifications of the
Servo Drive.
Torque command
range for torque
control
-199.999% to 199.999%
The upper limit of the torque command range depends on the specifications of
the Servo Drive.
Control
functions
Servo lock/unlock Creates (Servo lock) or releases (Servo unlock) the position loop on the PCU.
Position control Positions to an absolute position or relative position according to the target
position and target speed specified from the ladder program.
Origin
determination
Origin search: Establishes the origin using the specified search method.
Present position preset: Changes the present position to a specified position to
establish the origin.
Origin return: Returns the axis from any position to the established origin.
Absolute encoder origin: Establishes the origin using a Servomotor that has an
absolute encoder, without having to use an origin search.
Jogging Outputs pulses at a fixed speed in the forward rotation or reverse rotation
direction.
Interrupt feeding Performs positioning by moving the axis a fixed amount when an external interrupt
input is received while the axis is moving.
Speed control Performs speed control by sending a command to the Servo Drive speed loop.
Torque control Performs torque control by sending a command to the Servo Drive current loop.
Stop functions Deceleration stop: Decelerates the moving axis to a stop.
Emergency stop: Positions the moving axis for the number of pulses remaining in
the deviation counter and then stops the axis.
Auxiliary
functions
Acceleration/
deceleration
curves
Sets one of the following: a trapezoidal (linear) curve, an exponential curve, or an
S-curve (moving average).
Torque limit Restricts the output torque during axis operation.
Override Multiplies the axis command speed by a specified ratio.
Override: 0.01% to 327.67%
Servo parameter
transfer
Reads and writes the Servo Drive parameters from the ladder program in the CPU
Unit.
Monitoring
function
Monitors the control status of the Servo Drive, such as the command coordinate
positions, feedback position, current speed, and torque.
Software limits Limits software operation within the positioning range during position control.
Backlash
compensation
Compensates for the amount of play in the mechanical system according to a set
value.
Deviation counter
reset
The position deviation in the Servo Drive's deviation counter can be reset to 0
(unit version 1.3 or later).
External
I/O
Position Control
Unit
One MECHATROLINK-II interface port
Servo Drive I/O Forward/reverse rotation limit inputs, origin proximity inputs, external interrupt
inputs 1 to 3 (can be used as external origin inputs)
Self-diagnostic functions Watchdog, flash memory check, memory corruption check
Error detection functions Overtravel, Servo Drive alarm detection, CPU error, MECHATROLINK
communications error, Unit setting error

MECHATROLINK Specifications

Item Specifications
Communications protocol MECHATROLINK-II
Baud rate 10 Mbps
Maximum transmission distance 50 m *1
Minimum distance between stations 0.5 m
Transmission media Shielded, twisted-pair cables
Maximum No. of stations 30 slave stations max. *2
Topology Bus
Transfer cycle 250 μs to 8 ms
Communications method Master-slave, totally synchronous
Encoding Manchester encoding
Data length 17 bytes/32 bytes selectable *3

*1. This distance is the total length of the cable connected between devices. However, the maximum length depends on
       the number of devices connected and whether Repeaters are used.
*2. Up to 16 devices can be connected to the CJ1W-NCF71(-MA), up to 2 devices can be connected to the CJ1W-NC271,
       and up to 4 devices can be connected to the CJ1W-NC471.
*3. The PCU data length is fixed at 32 bytes.