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1-1
Section
Features
2
1-1
Features
Position Control Unit
CS1W-NC4
j
3
(4-axis control)
CS1W-NC2
j
3
(2-axis control)
CS1W-NC1
j
3
(1-axis control)
These Position Control Units are CS1-series Special I/O Units. The Units
receive instructions from the Programming Controller’s Work Area and output
pulse trains to various motor drivers for positioning.
1-1-1 Functions
The Position Control Unit (PCU) responds to instructions from the CPU Unit
within 2 ms. (For more details on the conditions required, refer to
Appendix A
Performance Characteristics
.)
There are two different control methods. The first is memory operation, in which
the data required for positioning is transferred to the PCU and then specified for
position control, and the second is direct operation, in which the target position
and target speed are set each time from the CPU Unit.
The PCU is available with 1, 2, or 4 control axes. With 2-axis and 4-axis models,
linear interpolation is possible for all axes. Either open collector output or line
driver output is available for any number of control axes. Choose the most
appropriate model according to the number of controlled axes and the desired
output type.
A stepping motor driver and a pulse train input type servo motor drive can be
connected to the PCU. It is possible to set different operating modes for different
axes allowing the combined use of different types of motor driver.
When an interrupt is input during pulse output, positioning is continued for only a
specified amount and then stopped.
Positioning can be performed for positions in the range --1,073,741,823 to
1,073,741,823 pulses and speeds in the range 1 to 500,000 pps in 1-pulse units.
This means that positioning is possible over a wide range with speed precision.
The amounts of data that can be set for memory operation are shown in the fol-
lowing table:
High-speed Response
Memory Operation and
Direct Operation
Number of Control Axes
and Output Type
Motor Driver Selectable
by Axis
Interrupt Feeding
Position and Speed
Control Ranges
Data Capacity and
Backup
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