36
Motion controllers
Specifications
Position control unit
Model
CS1W-NCF71
Classification
CS-series CPU bus unit
Applicable PLCs
CS-series
CS-series (V. 3.0 or later if use of function blocks is needed)
Possible unit number settings
0 to F
Control method
MECHATROLINK-II (position, speed and torque control )
Controlled devices
Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface
Controlled axes
16 maximum
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
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/s
2
Speed command unit for speed control
0.001% of the motor's maximum speed
Torque command unit for torque control
0.001% of the motor's 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/s
2
)
Speed command range for speed control
-199.999% to 199.999%
The upper limit is restricted by the maximum speed of the servo motor.
Torque command range for torque control
-199.999% to 199.999%
The upper limit is restricted by the maximum torque of the servo motor.
Control functions
Servo lock/unlock
Locks and unlocks the servo driver.
Position control
Positions to an absolute position or relative position according to the specified target position and tar-
get 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 a fixed speed in the CW or CCW 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 driver speed loop.
Torque control
Performs torque control by sending a command to the servo driver 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.
Linear interpolation
Up to 8 axes can be interpolated by using two interpolators (4 axes per interpolator)
Available in unit version 1.1 or higher
Auxiliary functions Acceleration/deceleration curves
Sets either a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average).
Torque limit
Restricts the torque upper limit during position control.
Override
Multiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67%
Servo parameter transfer
Reads and writes the servo driver parameters from the ladder program in the CPU unit.
Monitoring function
Monitors the control status of the servo driver's command coordinate positions, feedback position,
current speed, torque, etc.
Software limits
Limits software operation for controlling positioning.
Backlash compensation
Compensates for the amount of play in the mechanical system according to a set value.
External I/O
Position control unit
One MECHATROLINK-II interface port
Servo driver I/O
CW/CCW limit inputs, origin proximity inputs, external interrupt inputs 1 to 3
(can be used as external origin inputs)
Programming
methods
Standard ladder
Directly over NCF unit memory area
Function blocks
Using standard PLC open function blocks
Smart active parts
Use of OMRON HMIs smart active parts optimizes CPU usage and engineering time
Internal current consumption
360 mA or less for 5 VDC
Weight 188
g
Y203-EN2-02-Katalog.book Seite 36 Mittwoch, 24. Mai 2006 2:22 14
