User manual OMRON CJ1W-NCF71-MA 12-2009

[. . . ] W426-E1-10 SYSMAC CJ1W-NC271/NC471/NCF71/ NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units OPERATION MANUAL CJ1W-NC271/NC471/NCF71/NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units Operation Manual Revised December 2009 iv Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. !DANGER !WARNING !Caution Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. [. . . ] If the established origin position is not aligned, the origin search function will not operate correctly. If using this function with this setting, use an external sensor for the origin input signal or select an origin search method that uses the origin proximity input signal because the signal width of the Servo Drive's Z-phase signal is too short. Reversal Mode Operation Using Limit Inputs When the origin search operation mode is set to reversal mode 1 to 3, axis operation stops or changes to the opposite direction when the limit input signal turns ON. When using a W-series Servo Drive, the axis will operate according to the Select Stop when Prohibited Drive Is Input (Pn001. 1) setting in the Servo Parameters after the limit input signal turns ON and until the axis operation stops. When using a SMARTSTEP Junior Servo Drive, the Servomotor will decelerate to a stop using the maximum Servomotor torque. Reverse Pattern For reversal mode 1, the positioning relationship between the limit input and the origin proximity signal is as shown by the two patterns in the following diagram. For reversal mode 2 or 3, only the bottom pattern is possible. When these modes are used, the axis operates according to the Stop Selection for Drive Prohibit Input for G-series Servo Drives (Pn066) or Select Stop when Prohibited Drive Is Input for W-series Servo Drives (Pn001. 1) for the shaded areas in the diagram. Origin search 1 direction limit input 0 Speed Origin search direction Limit input in opposite direction 1 0 from origin search direction 1 Origin proximity 0 input signal Speed Origin search direction Note If the Servo Parameter (Pn505 for G5 Series, Pn066 for G Series and Pn001. 1 for W Series) is set to stop operation with a free run when a limit input is input when using a G-series or a W-series Servo Drive, the momentum of the previous operation may cause the machine to run in the limit input direction. 313 Origin Search Operation Section 8-2 When origin searches are performed using reversal mode 1 to 3 as the operation mode, either enable the Servo Drive's dynamic brake, or set the Stop Selection for Drive Prohibition Input for G5-series Servo Drives (Pn505), the Stop Selection for Drive Prohibit Input for G-series Servo Drives (Pn066) or Select Stop when Prohibited Drive is Input for W-series Servo Drives (Pn001. 1) to 1 (decelerates to a stop using the immediate stop torque set in Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or Pn406 for W Series or lower and locks Servo in zero clamp mode) or 2 (decelerates to a stop using the immediate stop torque set in Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or Pn406 for W Series or lower and puts Servo in free run state) so that the Servomotor stops properly when a limit input is received. 8-2-5 Starting Origin Search Origin search is performed according to the speed command value set in the Axis Operating Output Memory Areas and started when the ORIGIN SEARCH Bit turns ON. Execute ORIGIN SEARCH when the Busy Flag for the corresponding axis is OFF. If ORIGIN SEARCH is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORIGIN SEARCH will not be executed. When starting ORIGIN SEARCH, make sure that the ORIGIN SEARCH Bit will remain ON until the Busy Flag turns ON. If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN SEARCH command will be ignored. Be sure that all of these command bits are OFF before executing an origin search. Timing Chart The following timing charts are for when ORIGIN SEARCH is executed with the origin search operation set to reversal mode 1, the origin detection mode set to origin proximity input signal reversal, and the origin search direction set to forward. Timing Chart Operation Origin proximity input signal 1 0 Origin input signal 1 (Phase Z signal) 0 Final travel distance to return to zero point Origin search reverse direction Stop Start Origin search direction Limit input signal in origin search direction 314 Origin Search Operation Timing Chart Speed command value (words a+4, a+5) ORIGIN SEARCH (word a, bit 06) Forward rotation limit input 1 0 Origin proximity input 3E8 hex (1000) Section 8-2 1 0 Origin input 1 0 Speed Time The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range. Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position Control Unit is completed until positioning has been completed. After starting the origin search, the Busy Flag turns ON until the origin search operation has completed. Make sure that the ORIGIN SEARCH Bit remains ON until the Busy Flag turns ON. PCU Positioning Completed Flag (word b, bit 05) No Origin Flag (word b, bit 06) Origin Stop Flag (word b, bit 07) Busy Flag (word b, bit 13) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. -1) × 25 b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. -1) × 25 Note If the origin search preset is used, the PCU Positioning Completed Flag, No Origin Flag, and Busy Flag will change status only after the present position preset operation is completed after finishing the origin search operation. Transferring Parameters during Origin Search Operations The Position Control Unit can transfer Servo Parameters during axis operations (i. e. , while the Busy Flag is ON). With Position Control Units with unit version 2. 0 or later, Servo Parameter transfers specified during origin search operation are performed after completing the origin search. Example: The following example illustrates reading Servo Parameters during an origin search operation. SAVE SERVO PARAMETER Bit (word a+1, bit 13) Servo Parameter Transferring Flag (word b, bit 14) Busy Flag (word b, bit 13) When using Position Control Units with unit version 2. 0 or later, any Servo parameter read operations specified during an origin search will be performed after the origin search has been completed. Origin search operation in progress Origin search operation completed 8-2-6 Origin Search Preset The present position can be set to any desired position after completing an origin search. This enables setting an arbitrary electrical origin point corresponding to the mechanical origin point. This function can be used only with Position Control Units with unit version 2. 0 or later. [. . . ] Select the CJ1W-NCF71 to make settings for the CJ1W-NCF71-MA when using Support Software. 645 Additional Functions for the CJ1W-NCF71-MA Appendix F 646 Index A absolute encoder operating procedure 327 origin 8, 326 origin position offset 332 overview 326 parameters 298, 299 PCU data settings 329 setup 331 absolute movement 4, 8 sample program 439 ABSOLUTE MOVEMENT Bit 94, 186 acceleration during speed control 285, 389 filter settings 280 operations 277 parameters 279, 300 settings 278 speeds 10 acceleration/deceleration curves 7, 8, 10 alarm displays 610 applications precautions xxvi area allocations 241 auxiliary functions 7, 8 acceleration/deceleration curves 7 backlash compensation 7 monitoring function 7 override 7 servo parameter transfer 7 software limits 7 torque limit 7 Axis Communications Status 21 axis communications status 94 axis communications status bits 184 Axis Communications Status Flags 249 Axis Control Status Flags Busy Flag 200, 204 Error Flag 200 No Origin Flag 200, 203 Origin Stop Flag 200, 203 PCU Positioning Completed Flag 200, 201 Receiving Command Flag 200 Servo Parameter Transferring Flag 200 Stop Execution Flag 200, 205 Warning Flag 200 axis error code 198 Axis Error Flag 22 Axis Operating Input Memory Area 77, 228, 230, 232, 235 allocations 95, 195, 605 beginning word 98 designation 18, 98 monitoring 213 overview 194 Servo Parameter Transferring Flag 23 Servo Status Flags 404 Axis Operating Memory Area 6, 22 Axis Operating Output Memory Area 77, 227, 230, 232, 234, 257 allocations 94, 186, 601 beginning word 97 designation 18, 97 Forward Rotation External Current Limit Designation Bit 354 operating commands 213 overview 185 priority 190 RELATIVE MOVEMENT Bit 26 Reverse Rotation External Current Limit Designation Bit 354 SERVO LOCK Bit 25 SERVO UNLOCK Bit 28 Axis Parameter Area 77, 520 allocations 79 overview 101 replacing PCUs 623 Axis Parameters 10, 218 setting 20 B backlash compensation 7 data settings 406 overview 405 procedure 405 backup functions at CPU Unit 512 at PCU 513 baud rate 35 MECHATROLINK 238 BKIR 50 BKIRCOM 50 brake output 95 Busy Flag 95, 196, 204 647 Index C C2 master connection 101, 244 CJ1W-NC113/133/213/233/413/433 9 replacing with CJ1W-NC271/471/F71/CS1W-NC271/ 471/F71 621 CN1 43, 47, 50 CN1 (Servo Drive) 53 command present position 95, 198, 276 command response time 515 command units 275 setting example 274 commands DECELERATION STOP 5 DEVICE SETUP 234 EMERGENCY STOP 5 PRESENT POSITION PRESET 5 RELATIVE MOVEMENT 16, 26 Common Operating Input Memory Area allocations 599 Common Operating Memory Area 18, 77, 221, 223, 225, 248, 249, 251, 256 allocated words 33 allocations 93, 181 CONNECT Bit 21, 25 Connection Status Flag 21, 25 Data Transferring Flag 20 overview 179 SAVE DATA Bit 20 Common Operating Output Memory Area allocations 597 Common Parameter Area 77, 519 allocations 79 overview 96 replacing PCUs 623 Common Parameters 18, 19, 218 Axis Operating Input Memory Areas 19 Axis Operating Output Memory Areas 19 Beginning word of Axis Operating Input Memory Areas 19 Beginning word of Axis Operating Output Memory Areas 19 scan list setting (axes 1 and 2) 19 scan list setting (axes 3 to 16) 19 writing to PCU 19 Communications Alarm 256 communications cycle 100, 244 setting 245 communications protocol 238 communications retries 101, 244 compatible devices 6 CONNECT Bit 21, 25, 93, 181 Connection Status Flag 21, 25, 93, 183, 249 connections establishing 248 Connector Terminal Block Cables 65 control command range 7 control function parameters 89, 147, 170, 588 control functions 7 interrupt feeding 7 jogging 7 origin determination 7 position control 7 servo lock/unlock 7 speed control 7 stop functions 7 torque control 7 Control I/O Connector 43, 47, 50, 61 control I/O signals 49 input +24 VDC control power supply 49 external latch inputs 49 forward drive prohibit input 49 origin return deceleration LS 49 reverse drive prohibit input 49 output brake interlock output 50, 52 frame ground 50, 53 positioning completed output 1 50 servo ready output 50 wiring 58 components 61 control method 6 control mode switching 396 control panel installation xxviii control system configuration 272 control units 6 for position control 273 for speed control 274 for torque control 274 controlled axes 6 coordinate system 276 CPU Unit 17 CPU Unit cycle time 10 current consumption 6 cycle time 648 Index at CPU Unit 518 PCU common errors 489, 609 error counter reset 10 error detection functions 8 Error Flag 95, 196 error reset 506 ERROR RESET Bit 94, 186 errors at CPU Unit 486, 508 at PCU 486 at powerup 485 indicator display 485 MECHATROLINK communications 483 overview 480 PCU settings and operations 487 resetting 506, 507 troubleshooting 484 expanded monitoring 212 exponential acceleration/deceleration curve 282 exponential curve designation 94, 189 external I/O 7, 39 External I/O Status Bits 95, 211 external latch signal inputs 95, 198 D data areas 79 Data Transfer Bit 10 data transfer function 8 Data Transferring Flag 20, 93, 183 deceleration during speed control 285, 389 filter settings 280 operations 277 parameters 279, 300 settings 278 speeds 10 deceleration stop 8, 412 sample program 445 DECELERATION STOP Bit 94, 186 DEVICE SETUP 234 timing chart 235 DEVICE SETUP Bit 94, 187 dimensions 6, 38, 39 DIP switch 34 direct operation 2, 4, 8, 26 overview 338 PCU data settings 339 procedure 339 starting 343 timing charts 344 Distribution Completed Flag 197, 209 Distribution Completed Flag/Zero Speed Flag 95 F FALS instruction xxv feedback present position 95, 198, 276 FG 50 forward drive prohibited signal input 286 forward rotation current limit 94 forward rotation current limit designation 189 Forward Rotation External Current Limit Designation Bit 354 forward rotation limit input 95, 198, 286 Forward Software Limit Flag 95, 197, 211 function selection parameters 81, 133, 151, 551, 569, 592 E EC Directives xxviii electromagnetic fields xxv EMC Directives xxviii emergency stop 8, 10 emergency stop 414 sample program 445 EMERGENCY STOP Bit 94 EMI Standard xxviii EMS Standard xxviii encoder phase inputs 95, 198 encoder type 104 error codes 488 individual axis errors 493, 609 G General-purpose Control Cable 62 ground xxvi I I/O allocations 6 Axis Operating Memory Area 6 Common Operating Memory Area 6 649 Index number of write words 19 parameter size 23 position command value 26 Servo Parameter No. 23 speed command value 26 write data 23 write destination address 19 write source area 19 write source word 19 I/O parameters 82, 139, 162, 557, 580, 592 I/O signals 40 control 49 MECHATROLINK standard settings 266, 268 Servo Drive 43, 47 status 211 Individual Axis Errors 256 Initial PCU Settings 448 INP1 50 INP1COM 50 input signal selection 1 22 input signal selection 2 22 input signal selection 3 22 inspection 510 installation 35 location xxv precautions xxviii, 37 replacing PCUs 621 interrupt feeding 5, 7, 8 data settings 352 overview 351 present position 354 procedure 351 timing chart 353 INTERRUPT FEEDING Bit 94, 186 interrupt input signal selection 103 error display 486 error displays 485 errors at MECHATROLINK device 488 errors in PCU settings and operations 487 MECHATROLINK errors 487 MECHATROLINK-II Application Module 34 PCU errors 486 M MECHATROLINK 12 communications 12 control 248 ending 25 errors 254, 483, 487 settings 243 starting 21, 25, 428 status 249 stopping 28, 428 communications error 8 communications settings 10 compatible devices 238 device errors 488 overview 238 scan list 239 settings 239 specifications 238 MECHATROLINK Connector 40 MECHATROLINK-compatible devices 238 MECHATROLINK-II communications connections 57 wiring 56 high-speed field network 2 interface port 7 Servo Drives 2 synchronous communications 9 MECHATROLINK-II Application Module 17, 33 compatible versions 33 LED indicators 34 part names 33 station address 17 MECHATROLINK-II Communications Connector 33 MECHATROLINK-II Connection Cable 17, 56 MECHATROLINK-II Terminator 17, 56 memory areas Axis Operating Input Memory Areas 77 Axis Operating Output Memory Areas 77 J JOG Bit 94, 186 jogging 5, 7, 8 operation procedure 371 PCU data settings 372 starting 375 timing chart 375 L LED indicators 32 650 Index Axis Parameter Areas 77 Common Operating Memory Area 77 Common Parameter Area 77 Memory Card backup 512 Memory Card transfer error 183 MLK Communications Error 255 MLK Device Alarm/Warning 257 MLK Device Error 255 MLK Device Initialization Error 254 MLK Initialization Error 255 monitor 1 95, 199 monitor 1 type 94, 188, 198 monitor 2 95, 199 monitor 2 type 94, 188, 198 monitor types 213 monitoring function 7 deceleration 284 direction 104 operation 103 operation mode 306 operation summary 305 overview 293 parameters 301, 302 procedure 294 sample program 438 starting 314 ORIGIN SEARCH Bit 94, 186 Origin Stop Flag 95, 196, 203 outputs precautions xxv override 5, 7, 8, 9, 94, 188 operation 376 timing chart 377 Override Enable Bit 94, 186 N No Origin Flag 95, 196, 203 noise xxv number of read words 93, 182 number of write words 93, 182 P parameter size 94, 189 parameters Axis Parameters 20 control status 303 part names 32 MECHATROLINK-II Application Module 33 PCU Parameters 218 reading 223 replacing PCUs 622 saving 225 transferring 220 sample program 423 writing 220 PCU Positioning Completed Flag 95, 195, 201 phase Z margin calculating 324 description 324 position command range 9 position command value 94, 187 Position Completed Flag/Speed Conformity Flag 95 position control 2, 4, 7, 8, 9, 272 control units 273 parameters 81, 137, 158, 555, 577 switching 466 positioning sample program 439 Positioning Completed Flag 197, 207 Positioning Proximity Flag 95, 197, 210 O online editing xxv Operating Data Area replacing PCUs 634 operating environment xxvi precautions xxv Operating Memory Area replacing PCUs 630 option command value 94, 188 during speed control 390 during torque control 401 origin determination 7, 8 origin input signal selection 102 origin proximity input 95, 198 origin return 8, 319 data settings 319 timing chart 323 ORIGIN RETURN Bit 94, 186 origin search 5, 8, 10, 284 acceleration 284 data settings 295 651 Index power supply xxv precautions xxvi Power Supply Unit 17 power up time 515 precautions xxiii applications xxvi general xxiv handling 511 installation 37 operating environment xxv safety xxiv system configuration 35 wiring 73 present position during interrupt feeding 354 upper/lower limits 276 present position preset 5, 8, 317 data settings 317 timing chart 318 PRESENT POSITION PRESET Bit 94, 186 present position range 9 present positions 276 Programming Console 17, 25 Programming Console Connecting Cable 17 installation 621 operating data 622 Operating Data Area 634 Operating Memory Area 630 PCU Parameters 622 procedure 511 system configuration 621 wiring 621 replacing Units precautions xxvii resetting errors 507 resetting warnings 507 response time 10 commands from CPU Unit 516 external input 518 reflecting Servo Drive status changes in CPU Unit 517 Restart Bit 21 restarting 21 PCU 508 reversal mode 306 using limit inputs 313 reverse drive prohibited signal input 286 reverse rotation current limit 94 reverse rotation current limit designation 189 Reverse Rotation External Current Limit Designation Bit 354 reverse rotation limit input 95, 198, 286 Reverse Software Limit Flag 95, 197, 211 R radiated emission xxviii radioactivity xxv READ BACKUP DATA Bit 93, 181 read data 95, 199 READ DATA Bit 93, 181 read destination area 93, 182 read destination word 182 READ SERVO PARAMETER Bit 94, 187 read source address 93, 182 reading data from the PCU 224 READY 50 READYCOM 50 Receiving Command Flag 95, 195, 200 relative movement 4, 8 sample program 439 RELATIVE MOVEMENT Bit 16, 26, 94, 186 replacing PCUs Axis Parameter Area 623 Common Parameter Area 623 functions 635 S safety precautions xxiv SAVE DATA Bit 20, 93, 181 SAVE SERVO PARAMETER Bit 22, 94, 187 saving PCU settings 20 saving data 10 saving data to the PCU 226 scan list 239 allocations 241 setting 18 S-curve acceleration/deceleration curve 282 S-curve designation 94, 189 self-diagnostic functions 8 Servo 553 Servo Drive 16, 17 Servo Drive Parameters 218 transferring 219 652 Index servo gain parameters 135, 155, 553, 573 SERVO LOCK Bit 25, 94, 187 servo lock/unlock 7, 25, 28 operation 370 sample program 436 timing chart 371 Servo ON (SVON) Flag 197 Servo Parameter Area 77, 104, 521 allocations 80 control function parameters 565 function selection parameters 551 I/O and status parameters 557, 592 position control parameters 555 servo gain parameters 553 speed control parameters 556 torque control parameters 556 Servo Parameter No. 94, 189 servo parameter transfer 7 Servo Parameter Transferring Flag 23, 196 Servo Parameters 10, 218 acceleration constant switching speed 27 automatic setting 265 backup sample program 454 deceleration constant switching speed 27 first-step linear acceleration constant 27 first-step linear deceleration constant 27 limit input operations 287 reading 229 timing chart 230 saving 231 timing chart 233 second-step linear acceleration constant 27 second-step linear deceleration constant 27 setting 22 transferring 22, 226 sample program 429 writing 23, 227 timing chart 228 Servo parameters reading/writing 8 Servo Parameters Transferring Flag 95 Servo Status Flags 95, 206, 404 Distribution Completed Flag 206, 209 Forward Software Limit Flag 206, 211 Positioning Completed Flag 206, 207 Positioning Proximity Flag 206, 210 Reverse Software Limit Flag 206, 211 Speed Conformity Flag 206, 207 Speed Limit Status Flag 206, 210 torque limit 206 Torque Limit Status Flag 210 Zero Speed Flag 206, 209 SERVO UNLOCK Bit 28, 94, 187 Servomotor 17 Servomotor Encoder Cable 17 Servomotor Power Cable 17 Servomotors with absolute encoders 2 short-circuits precautions xxvi signals precautions xxvi Simple 512 simple backup function 512 simultaneous execution 191 multiple functions 192 single-direction mode 306 software limits 7 data settings 409 operation 410 overview 408 procedure 408 specifications 6 speed command range 9 speed command value 94, 187, 188 Speed Conformity Flag 197, 207 speed control 2, 5, 7, 9 acceleration/deceleration 285, 389 control units 274 monitoring 396 option command value 390 overview 385 parameters 82, 85, 138, 159, 556, 578 sample program 442 starting 385 status 396 switching 466 SPEED CONTROL Bit 94, 187 Speed Limit Status Flag 95, 197, 210 standards 6 start times 518 static electricity xxv precautions xxvii station address setting switch 34 status parameters 82, 139, 162, 175, 557, 580, 592 Stop Execution Flag 95, 196, 205 653 Index stop functions 5, 7, 8 deceleration stop 412 emergency stop 414 overview 412 timing chart 415 system configuration 3 precautions 35 replacing PCUs 621 timing chart 382 Torque Limit Status Flag 95, 197, 210 Transfer 512 transfer cycle 100, 243 setting 245 Transfer Cycle Setting Error 255 transferring data 10 transferring programs xxv troubleshooting 501 communications errors 504 during PCU operations 502 procedure 484 T target position changing 348 operation pattern 349 target speed changing 350 terminal arrangement CN1 43, 47, 50 timing charts 252 changing target position/speed 350 direct operation 344 Error Warning Flag 346 errors or warnings 346 interrupt feeding 353 jogging 375 origin search 314 override 377 servo lock/unlock 371 stop functions 415 torque control 403 torque limit 382 zero/minute travel distance 345 torque command range 9 torque command value 94, 188 torque control 2, 5, 7, 9 control units 274 monitoring 404 option command value 401 overview 398 parameters 82, 138, 160, 556, 579 sample program 443 starting 398 status 404 switching 466 timing chart 403 TORQUE CONTROL Bit 94, 187 torque limit 7, 8, 354 constant 378 overview 377 setting with operating commands 379 U Unit Busy Flag 93, 183 Unit classification 6 unit error code 93, 183 Unit Error Flag 22, 93, 183 UNIT ERROR RESET Bit 93, 181 unit numbers setting 17 setting switch 33 W Warning Flag 95, 196 warnings displays 619 resetting 507 weight 6 wiring 16, 18 I/O signals 58 MECHATROLINK-II communications 56 precautions 73 replacing PCUs 621 WRITE BACKUP DATA Bit 93, 181 write data 94, 189 WRITE DATA Bit 18, 24, 93, 181 write destination address 19, 93, 182 WRITE SERVO PARAMETER Bit 94, 187 write source area 19, 93, 182 write source word 19, 93, 182 writing data to PCU 222 W-series Servo Drives 33 alarm displays 610 compatible versions 33 654 Index Control I/O Connector 43, 47, 50 warning displays 619 W-series Servomotor 16 Z Zero Speed Flag 197 Zone Data 10 zone range 9 655 Index 656 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. W426-E1-10 Revision code The following table outlines the changes made to the manual during each revision. [. . . ]