OMRON CJ1W-MCH71 - MECHATROLINK-II

CJ1W-MCH71  -  MECHATROLINK-II

Motion control unit

Multi-axes motion control via high-speed

MECHATROLINK-II

• Up to 30 axes controlled with minimum wiring

• High-speed bus MECHATROLINK-II is specially

designed for motion control

• Supports position, speed and torque control

• Electronic CAM profiles and axes synchronization

• Hardware registration input for every axis

• Program control commands, like multi-task, parallel

programming and various arithmetic operations for

maximum program efficiency

• Smart active parts for OMRON HMIs

• Access to the complete system from one point

Function

Multi-axes control is made easy by freely combining control axes. Up to 32 axes can be used, including 30 physical axes and two virtual axes, and

each axis can be set individually. Position control, synchronized control (electronic gear, electronic cam, follow-up), speed control, and torque

control are all supported, enabling a wide range of applications. By using the high-speed servo communications MECHATROLINK-II, motion pro

grams, system parameters, system data, and servo drive parameters can be set and read from the software tool.

Specifications

Motion control unit

Model CJ1W-MCH71

Classification CJ-series CPU bus unit

Applicable PLCs CJ-series V. 2.0 or later

Control method MECHATROLINK-II (position, speed and torque control)

Controlled devices Sigma-II series servo drives (ver. 38 or later) with MECHATROLINK-II interface, various I/O units and inverters V7.

F7. G7 with MECHATROLINK-II interface (for inverter version support contact your OMRON sales office)

Programming language BASIC type motion control language

Controlled axes 32 max, including 30 physical or virtual axes and 2 virtual axes

Automatic/manual mode Automatic mode: mode for executing programs in the unit

Manual Mode: mode for executing commands from the CPU unit (via allocated words)

Minimum setting unit 1. 0.1. 0.01. 0.001. 0.0001 (unit: mm, inch, degree, pulse)

Maximum command value-2.147.483.648 to 2.147.483.647 pulses (32 bits with sign); infinite axis feed mode supported.

Example: 16.384 pulses/rev after multiplication, a minimum setting unit of 0.001 mm and 1 mm/rev would result

in -1.310.720.000 to 1.310.719.999 command units.

Control functions by

command from

CPU unit

Servo lock/unlock Locks and unlocks the servo driver.

Jogging Executes continuous feeding for each axis independently at selectable speed.

Origin search Determines the machine origin in the direction set in the system parameters.

Can be executed with an absolute encoder.

Absolute origin settingSets the origin for when an absolute encoder is used. (Offset value: 32 bits [pulses] with sign)

Machine lock Stops the output of move commands to axes.

Single block Executes motion programs one block at a time.

Control functions by

motion program

Positioning (PTP) Executes positioning independently for each axis at a specified speed or the speed system parameter.

(Simultaneous specification: up to eight axes/block, simultaneous execution: up to 32 blocks/unit)

Linear interpolation Executes linear interpolation for up to eight axes at a time at the specified interpolation feed speed.

(Simultaneous specification: up to eight axes/block, simultaneous execution: up to 32 blocks/system)

Circular interpolation Executes circular interpolation for two axes in either clockwise or counterclockwise at the specified interpolation

feed speed. Helical circular interpolation is also possible with single-axis linear interpolation added.

(Simultaneous specification: two or three axes/block, simultaneous execution: up to 16 blocks/system)

Other functions Origin searches, interrupt feeding, timed positioning, traverse positioning, independent electronic CAM, synchronized

electronic CAM, link operation, electronic gear, follow-up synchronization, speed reference, torque reference

Acceleration/deceleration curve,

acceleration/deceleration time

Trapezoidal or S-curve, 60.000 ms max. (S-curve: constant 30.000 ms max.)

External I/O One port for MECHATROLINK-II servo communications, one deceleration stop input, two general inputs,

two general outputs

Feed rate Rapid, interpolation feed rate: 1 to 2.147.483.647 (command units/min)

Override 0.00% to 327.67% (setting unit: 0.01%; Can be set for each axis or task.)

Motion programs Number of tasks,

number of programs

Up to 8 tasks and 256 programs/unit (8 parallel branches per task max.)

Program numbers 0000 to 0499 for main program; 0500 to 0999 for subroutine

Program capacity In motion program conversion, 8.000 blocks/unit max. (2 Mbytes); number of blocks: 800 per program

Data capacity Position data: 10.240 points/unit; cam data: 32 max.; 16.000 points/unit

Subroutine nesting Five levels max.

Start Programs in other tasks can be started from a program or from the PLC

Deceleration stop Decelerates to a stop regardless of the block.

Block stop Decelerates to a stop after the block being executed is ended.

Single block Executes the program one block at a time.

Data exchange

with CPU unit

Unit BIT area Uses one unit number (25 words). Used for unit and tasks: 11 to 25 words (depending on the number of tasks)

Unit data area Uses one unit number (100 words). Used for unit and tasks: 32 to 74 words (depending on the number of tasks)

Axes BIT area Axes: 0 to 64 words (depending on the maximum axis number used). User configurable.

Axes data area Axes: 0 to 128 words (depending on the maximum axis number used). User configurable.

General purpose General I/O: 0 to 1.280 words (depending on the settings). User configurable.

Saving programs and data Memory card backup (in CPU unit, 100.000 times max.)

Self-diagnostic functions Watchdog, RAM check, etc.

Error detection functions Deceleration stop inputs, unit number errors, CPU errors, software limit errors, etc.

Error log function Read by IORD instruction from CPU unit.

Support software Microsoft Windows 2000 or NT 4.0 (Processor: Pentium, 100 MHz min., with at least 64 MB of memory)

External power supply voltage 24 VDC (21.6 to 26.4 VDC)

Internal current consumption 0.6 A or less for 5 VDC

Weight (not including connectors) 300 g m

MECHATROLINK-II, Servo drive interface unit (JUSP-NS115)

MECHATROLINK-II, 64 Point I/O module (IO2310)

MECHATROLINK-II, counter module (PL2900)

MECHATROLINK-II, pulse output module (PL2910)

Item Details

Type JUSP-NS115

Applicable servo drive SGDH-@@@E models (version 38 or later)

Installation Method Mounted on the SGDH servo drive side: CN10.

Basic

specifications

Power supply method Supplied from the servo drive control power supply.

Power consumption 2 W

MECHATROLINK -II

communications

Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications

Command format Operation specification Positioning using MECHATROLINK-I/II communications.

Reference input MECHATROLINK-I/II communications

Commands: position, speed, torque, parameter read/write,

monitor output

Position control

Acceleration/deceleration methodLinear first/second-step, asymmetric, exponential, S-curve

Fully closed control Position control with fully closed feedback is possible.

Fully closed

system specifications

Encoder pulse output in the

servo drive

5 V differential line-driver output (complies with EIA standard RS-422A)

Fully closed encoder pulse signal A quad B line-driver

Maximum receivable frequency

for servo drive

1 Mpps

Power supply for fully closed

encoder

To be prepared by customer.

Input signals in the

servo drive

Signal allocation changes

possible

Forward/reverse run prohibited, zero point return deceleration LS

External latch signals 1. 2. 3

Forward/reverse torque control

Internal functions Position data latch function Position data latching is possible using phase C,

and external signals 1. 2. 3

Protection Parameters damage, parameter setting errors, communications errors,

WDT errors, fully closed encoder detecting disconnection

LED indicators A: alarm, R: MECHATROLINK-I/II communicating

Items Specifications Appearance

Model JEPMC-IO2310

I/O signals Input: 64 points, 24 VDC, 5mA, sink/source mode input

Output: 64 points, 24 VDC, 50mA when all points ON,(the max. rating is 100mA per point)

sink mode output (NPN)

Signal connection method: connector (FCN360 series)

Module power supply 24VDC (20.4 V to 28.8 V)

Rated current: 0.5 A

Inrush current: 1 A

Weight 590 g

Items Specifications Appearance

Model JEPMC-PL2900

Number of input

channels

2 (1 can be used with MCH)

Functions Pulse counter, notch output

Pulse input method Sign (1/2 multipliers), A/B (1/2/4 multipliers), UP/DOWN (1/2 multipliers)

Max. counter speed 1200 kpps (x 4 multiplier)

Pulse input voltage 3/5/12/24 VDC

External power supply 24VDC, 120mA or less

Weight 300 g

Items Specifications Appearance

Model JEPMC-PL2910

Number of output

channels 2

Functions Pulse positioning, JOG run, zero-point return

Pulse output method CW, CCW pulse, sign

Max. output speed 500 kpps

Pulse output voltage 5 VDC

Pulse interface circuit Open collector output

5VDC, 10mA/circuit

External control signal Digital input: 8 points/module, 5 VDC x 4 points, 24 VDC x 4 points

Digital output: 6 points/module, 5 VDC x 4 points, 24 VDC x 2 points

Weight 300 g

NS115

44 Motion controllers

MECHATROLINK-II Repeater

MECHATROLINK-II, frequency inverter interface units

Nomenclature

CJ1W-MCH71 - motion control unit

JUSP-NS115 - MECHATROLINK-II interface unit

Items Specifications Appearance

Model JEPMC-REP2000

Communication type MECHATROLINK-II

Cable length Between controller and repeater: 50m., after repeater: 50m

Max. connected

stations

Total stations on both sides of repeater: 30

(limited to the max. number of connectable stations of the controller (e.g., 30 stations for the CJ1W-MCH71))

Restrictions Between controller and repeater- Total cable length ≤  30m: 15 stations max. 

including I/O and servo, etc.- 30 m < total cable length ≤  50m: 14 stations max. including I/O and servo, etc.

After repeater:- Total cable length ≤  30m: 16 stations max. including I/O and servo, etc.- 30 m < total cable length ≤  50m: 15 stations max. including I/O and servo, etc.

Power supply 24 VDC, 100 mA

Weight 340 g

Dimensions (mm) 30x160x77 (HxWxD)

Item Details

Type SI-T/V7 SI-T

Applicable inverter CIMR-V7 / 3G3-MV

(firmware 5740 or newer)

CIMR-G7 / CIMR-F7

(firmware 656x/for G7 / 4011 or newer for F7)

Contact your OMRON sales office for information about firmware compatibility

Installation method Mounted on the inverter

Power supply Supplied from the inverter

MECHATROLINK-II communications 10 MHz, 0.5 ms to 8 ms for MECHATROLINK-II

Operation Read and write registers, read monitors, inverter operation, speed reference, torque reference

(G7/F7 only).

Inputs and outputs The inputs and outputs in the inverter can be read and set by the MLII master

Connectors ML-II bus connector. DPRAM connector for the inverter

Switches Rotary switch for ML-II address (low byte)

Dip switch for: ML-II address (high bit). ML-II/ML-I selection. 17 byte/32 byte data length selection.