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13
Performance Specifications
Section 1-5
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.
(Refer to
Note (1)
on page 16.)
One slot
Method for
data trans-
fer 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 con-
trolled 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.
Item
Specifications
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