CJ Series Position Control Unit Model CJ1W-NCF71 ... · PDF fileCJ Series Position Control Unit Model CJ1W-NCF71 Introduction to CJ1W-NCF71

CJ Series Position Control UnitModel CJ1W-NCF71Introduction to CJ1W-NCF71

www.infoPLC.net

2

1. CJ1W-NCF71 Overview

Overview– CJ Series CPU Bus Unit– Position Control Unit (also refer to as PCU) that receives commands from Internal

I/O Area of CPU Unit and outputs positioning commands to MECHATROLINK-II compatible Servo Driver. (MECHATROLINK is a registered trademark of YASKAWA Electric Corporation.)

• Compatible with High-speed Motion Field Network, MECHATROLINK-II– 10Mbps high-speed communications MECHATROLINK-II I/F– Controls Servo Drivers up to 16 axes with the size of 1 CJ Series Unit.– Less wiring for more axes by daisy-chain connection with shielded twisted-pair cable

• High-speed, High-precision Control with Data Communications– Data is transferred between the Controller and Servo Driver with communications, which

enables to use the Servomotor performance to its maximum without setting a limit to the speed command value.

– Realizes high-speed, high-precision position control using high-resolution motor.

www.infoPLC.net

3


Overview– Simple Positioning Mainly with PTP Control (Conveyor, Assembly, etc.)– Can be Operated Only with Ladder Programs in PLC

» MCH is a controller that performs more sophisticated motion control such as synchronization independently without burdening the ladder programs in PLC.

– Simplified Servo Communications• Economized wiring, more axes, and miniaturization• Data transfer with Servo Driver

– Centralized parameter management– More refined control– Absolute encoder

• Startup simultaneity (Synchronous communications)

www.infoPLC.net

4


Nomenclature

www.infoPLC.net

5


System Configuration NC-MLII Unit

(CJ1W-NCF71) CJ Series CPU Unit Power

Supply Unit

Servo Driver(R88D-WT*)

MECHATROLINK-II (up to 16 axes)MECHATROLINK-II I/F Unit (JUSP-NS115: By YASKAWA)

Servomotor (R88M-W*)

PT (Monitor, JOG, etc.) Personal Computer (Parameter setting)

External input (Limit input, Origin proximity, etc.)

www.infoPLC.net

6

1. CJ1W-NCF71 FeaturesPosition Control (Direct Operation)

Speed

Time0

Send a command with a position and speed specified.

Positioning can be easily performed by directly setting the target position and speed from the CPU Unit. Positioning to either absolute or relative position can be performed. If the speed is changed, the new speed will be immediately applied.

Speed is changed

www.infoPLC.net

7

Position Control (Direct Operation)

First target position

New target position

Position

0

Target position changed and command started again

Time

If the target position is changed and the command with the new target position is started again, positioning is performed to the new target position without stopping.

Without target position change, operation stops here.

www.infoPLC.net

8

Interrupt Feeding

Speed

Position control

0

Position control

Interrupt input signal

With the interrupt input signal during position control, the axis is moved for a specified distance and stopped. This operation is called “Interrupt feeding”.

Time

www.infoPLC.net

9

Speed Control

Time

Directly specify a speed to change the actual operation speed.

Speed

www.infoPLC.net

10

Torque Control

Time

SpeedCan be switched without stopping.

Torque control

Position control

Torque

Can shorten operation time.

Switch from position to torque control possible.

www.infoPLC.net

11

Absolute Encoder and Data Transfer

Compatible with servomotor with absolute encoder.CJ1W-NCF71 supports the servomotor with absolute encoder, which eliminates the need for routine origin searches. W series servo driver by OMRON can be used with the servomotor with absolute encoder.

Data transfer between host controller and servo driver.Parameter settings and various monitoring of the servo driver can be performed from the CPU unit on the PLC. Centralized management of all the data for the multi-axis system from the host controller simplifies data settings in startup of the machine or replacement of devices.

www.infoPLC.net

12

2. CJ1W-NCF71 Functions

FunctionsCategory Name Brief description

Direct Operation

Absolute/Relative Positioning(PTP)

Positioning is performed with specified position and speed, and with absolute or relative movement. Speed and target position can be changed during operations.As an option, torque limit can be used.

Speed Control Speed of operations can be controlled.As an option, torque limit can be used.

Torque Control Torque in operations can be controlled.As an option, speed limit can be used.

Origin Search Origin Search Motor is operated to return to the mechanical origin.

Present Position Preset Stopping position is defined as a position of the preset position value. Consequently, a new origin is established.

Other JOG The axis is moved in forward or reverse direction at a specified speed.

Interrupt Feeding Positioning will be performed for a distance specified with a position and speed after the interrupt input signal is turned ON.

Override Speed of axis in positioning operation can be changed. Enabling Override changes speed by multiplying the target speed by the set multiplier (range: 0.01 to 327.67% (0.01 units)).

Acceleration/Deceleration Filter

Trapezoidal or S-curve Acceleration/Deceleration

www.infoPLC.net

13

2. CJ1W-NCF71 Functions

functions Category Name Brief description

Monitor Function

Present Value Monitor Command position, Feedback position, Position deviation, Command speed, Feedback speed, Torque command, and other control data can be monitored on PLC.

I/O Monitor Input statuses of Servo Driver’s input signals (Limit input, Origin proximity input, etc.) can be monitored on PLC.

Driver error Errors, Alarm codes, etc. of Servo Driver can be monitored on PLC.Alarms on Servo Driver can be reset from PLC.

Data Transfer Servo Parameter Transfer

Servo Parameters can be written from PLC to Servo Driver or read from Servo Driver to PLC.

www.infoPLC.net

14

3. MECHATROLINK

MECHATROLINK-II– MECHATROLINK is a high-speed motion field network developed by YASKAWA

ELECTRIC CORPORATION.– For MECHATROLINK-compatible devices (30 max.(*1)) connected with a single

communications line, high-speed, high-precision motion control can be realized with high-speed communications of 10Mbps max.*1: For NCF, up to 16 axes can be connected.

– There are 2 types of MECHATROLINK; MECHATROLINK-I has a baud rate of 4Mbps while MECHATROLINK-II of 10Mbps.

– CJ1W-NCF71 is compatible with MECHATROLINK-II only. Connected devices have to be compatible with MECHATROLINK-II as well.

www.infoPLC.net

15

3. MECHATROLINKMECHATROLINK-II

Note1. This distance is the total length of the cable connected between devices.The

maximum length changes according to the number of devices connected.2. Up to 16 stations can be connected to the PCU (CJ1W-NCF71).3. The PCU (CJ1W-NCF71) data length is fixed at 32 bytes.

www.infoPLC.net

16

3. MECHATROLINK

MECHATROLINK-II

www.infoPLC.net

17

3. MECHATROLINK

MECHATROLINK-II– Compatible Device

– CJ1W-NCF71 is not compatible with other MECHATROLINK slaves such as I/O and Counter.

www.infoPLC.net

18

3. MECHATROLINK

MECHATROLINK-II

www.infoPLC.net

19

4. How to Use CJ1W-NCF71

Basic Procedure

Installation, Wiring

PCU Settings

MECHATROLINK communications start

PCU Operations(Positioning)

Allocation of Axis Operating Memory Area (Input/Output)MECHATROLINK communications settings

www.infoPLC.net

20


MECHATROLINK Communications– Initial Settings

• Scan List• Communications Parameters

– Transfer Cycle– Communications Cycle– C2 Master Connection, No. of Communications Retries → Basically, default settings will do.

• Beginning words of Axis Operating Output/Input Memory Areas

– Starting/Stopping Communications• CONNECT (Bit 00 of Word n+1 in Common Operating Output Memory Area)

– Communications Status• Connection Status Flag (Bit 15 of Word n+16 in Common Operating Input Memory Area)• Axis Communications Status Flags (Word n+22 in Common Operating Input Memory Area)

www.infoPLC.net

21


MECHATROLINK Communications Start

(1)

(2)

(3)

www.infoPLC.net

22


Scan List– Set as Common Parameters in PCU.

www.infoPLC.net

23


Transfer Cycle, Communications Cycle– Set as Common Parameters in PCU.

www.infoPLC.net

24


PCU Settings– NCF Support Software

• CX-Motion-NCF

– Via Memory Area of PLC• Data Transfer Bits

– WRITE DATA Bit– READ DATA Bit– SAVE DATA Bit

– PT (Smart Active Parts)

www.infoPLC.net

25


PCU Settings– Via Memory Area of PLC

• Unit No.: No.0CPU Bus Unit Area: CIO 1500 ~ → Common Operating Memory Area

– WRITE DATA Bit: CIO 1500.01– READ DATA Bit: CIO 1500.02– SAVE DATA Bit: CIO 1500.03

– Number of Write Words: CIO 1506– Write Source Area: CIO 1507– Write Source Word: CIO 1508– Write Destination Address: CIO 1509

www.infoPLC.net

26



• Example– Axis Operating Output Memory Area: CIO 0 ~– Axis Operating Input Memory Area: CIO 1000 ~– Servomotor Axis 1, 2, and 3 are used.

Axis 3 → 0040Scan List: Axis 3 and 4Axis 1,2 → 4040Scan List: Axis 1 and 2Wd 1000 → 03E8Beginning word of Axis Operating Input Memory Area

CIO → 00B0Axis Operating Input Memory Area designationWd 0 → 0000Beginning word of Axis Operating output Memory AreaCIO→00B0Axis Operating Output Memory Area designationSetting valueSet item

0040D000054040D0000403E8D00003

00B0D000020000D0000100B0D00000

Setting valueWordIn this example, DM Area Words DM00000 to DM00005 are used for temporary data storage in data transfer.

www.infoPLC.net

27



• Unit No.: No.0CPU Bus Unit Area: CIO 1500 ~ → Common Operating Memory Area

– WRITE DATA Bit: CIO 1500.01– READ DATA Bit: CIO 1500.02– SAVE DATA Bit: CIO 1500.03

– Number of Write Words: CIO 1506 6 words– Write Source Area: CIO 1507 DM → 0082– Write Source Word: CIO 1508 0000– Write Destination Address: CIO 1509 1838

0040D000054040D0000403E8D00003

00B0D000020000D0000100B0D00000

Setting valueWord

Common Parameter Area

www.infoPLC.net

28

Common Parameter Areawww.infoPLC.net

29



• Settings for DM and Writing Data in previous page (CIO 1506 to CIO 1509)– WRITE DATA Bit: CIO 1500.01

» OFF to ON» While writing, Data Transferring Flag (CIO 1515.14) turns ON.» Once Data Transferring Flag turns OFF, WRITE DATA Bit turns OFF.

– SAVE DATA Bit: CIO 1500.03» OFF to ON» While writing, Data Transferring Flag (CIO 1515.14) turns ON.» Once Data Transferring Flag turns OFF, SAVE DATA Bit turns OFF.

• Once the above operation is completed, PCU will be restarted.– A501.00 turned ON

• Now the settings of Common Parameters are enabled.

www.infoPLC.net

30


MECHATROLINK Communications Start• Unit No.: No.0

CPU Bus Unit Area: CIO 1500 ~ → Common Operating Memory Area– CONNECT CIO 1501.00

» Start/Stop of MECHATROLINK communications can be controlled only by manipulating this bit.

– Communications Status» Connection Status Flag: CIO 1516.15» Axis Communications Status Flags: CIO 1522

www.infoPLC.net

31

Axis Communications Status Flags

CIO 1522

www.infoPLC.net

32


Axis Operating Memory Area Allocations

www.infoPLC.net

33


I/F with CPU UnitAxis 1

Axis Parameters- Operating Mode- Limit value settings, etc.

Output (CPU to PCU)

Start Bit

Position CMD value

Speed CMD value　　　　:

Input (PCU to CPU)

PCU Positioning Completed

Error data

Present position　　　　:

Axis 2

Axis 3

Basic position control takes the following steps according to the bits on the ladder for each axis:

Sends a command (Position, Speed, Start, etc.)

Positioning executed

Returns a response of Completed status

Similar to Direct Operation Function of

existing PCUs.

www.infoPLC.net

34


Direct Operation– Target position and speed are set from ladder program. Absolute/Relative

positioning, Interrupt feeding can be executed by turning ON the Start Bit.

MOV Target position, Target Speed(to Operating Data Area)

Start

Acceleration/deceleration are set in the Servo Parameters.

StartBusy

PCU Positioning Completed

NC-MLII Unit(CJ1W-NCF71)CJ Series CPU UnitPower Supply Unit

Servo Driver

Speed and target position can be changed during operations.

www.infoPLC.net

35


Transferring Servo Parameters– Servo Parameters can be written or read with operations from PLC (Host

Controller). NC-MLII Unit

(CJ1W-NCF71)CJ SeriesCPU UnitPower Supply Unit

Written Data

Read Data

MOV Parameter No. (address), Data size(to Operating Data Area)

WRITE DATA

Servo Driver

MOV Parameter No. (address), Data size(to Operating Data Area)

READ DATA

CPU I/O Memory

www.infoPLC.net

36

Speed ControlWithout using the position loop of the Servo Driver, speed commands are given directly to the speed loop to control the rotation speed of the Servomotor.

Speed control data (a+6, a+7) 0000C350(Hex) (50.000%)SPEED CONTROL (a+1.02)DECELERATION STOP (a .15)Receiving Command Flag (b 00)

ServomotorActual deceleration time

www.infoPLC.net

37

Torque ControlWithout using the position and speed loops, torque commands are given directly to the torque (current) loop to control the output torque of the Servomotor.

Torque control data(a+8, a+9)

00002710 (Hex)(10.000%)

TORQUE CONTROL (a+1.03)DECELERATION STOP (a .15)Receiving Command Flag (b .00)

00013880 (Hex)(80.000%)

Torque

Time0

www.infoPLC.net

38

Linear Interpolation FunctionFor each axis of the Servo Drivers connected to the PCU, with axes 1 to 4 and 5 to 8 being grouped, linear interpolation can be performed with up to 4 axes.

www.infoPLC.net

39

4. How to Use CJ1W-NCF71Other Functions– JOG

• Target speed and direction given from ladder, JOG operation executed by JOG Bit ON.– Origin Search (Only with INC Encoder)

• Various reversal modes are available by combination of parameter settings.

– ABS Encoder Support• ABS encoder data is read when starting MECHATROLINK communications.• ABS offset value can be set in the Servo Parameters.

www.infoPLC.net

40


Operation Manual– SECTION 2 Basic Procedures

• 2-1 Basic Flow of Operations• 2-2 Starting Operation

– SECTION 4 Data Areas• 4-1 Overall Structure

– PCU Setting Procedure

– SECTION 11 Sample Programs Catalog No.W426-E1

www.infoPLC.net

41


NC Unit Settings– NCF Support Software

• CX-Motion-NCF

Product OverviewPrecautionsHow to UseQ&A

www.infoPLC.net

42

CX-Motion-NCF Product OverviewSupport Software for CJ1W-NCF71- Model WS02-MNTC1 (Japanese/English)Main Functions

– Parameter setting for CJ1W-NCF71– Parameter setting for the W-series Servo Drivers

connected to NCF– Monitoring of present position, I/O, status– JOG operation

www.infoPLC.net

43

CX-Motion-NCF Applicable OS

•Windows 98

•Windows Me

•Windows NT Service Pack 6

•Windows 2000 Service Pack 3 or higher

•Windows XP

www.infoPLC.net

44

CX-Motion-NCF Function List

File Open, save projectsImport, export (CSV)Print

Edit Edit Unit Parameters (Common, Communications, Axis)Edit Servo Parameters

Transfer Download, upload, compare Unit ParametersDownload, upload, compare Servo ParametersBatch transfer

Online Unit monitorAxis monitorTest run (Establish/Release connection, Servo Lock/Unlock, JOG)Error log displayDevice information (Unit model, Version) display

Help Display HelpSupport Tool version display

www.infoPLC.net

45

CX-Motion-NCF Edit WindowDisplayed

Displayed

Displayed

www.infoPLC.net

46

CX-Motion-NCFMonitor/Test Run Window

www.infoPLC.net

47

CX-Motion-NCF Basic Window

•Exiting application

•Creating, opening, and saving

projects

•Online connection and settings

•Adding and deleting NC Unit

•Displaying Axis Map Setting

Window

www.infoPLC.net

48

CX-Motion-NCFAxis Map Setting Window

•Import, Export•Print•Adding axes (adding Drivers)•Displaying Unit Parameter Edit Window

•Displaying Servo Parameter Edit Window

•Batch transfer•Displaying Monitor Windows•Starting Test Run

www.infoPLC.net

49

CX-Motion-NCF Unit Parameter Edit Window

•Editing Unit Parameters•Transfer (Upload, Download, and Compare)

Edited data are discarded and window is closed.

Edited data are enabled and window is closed.

All the edited Unit Parameters are set back to their default settings.

www.infoPLC.net

50

CX-Motion-NCFServo Parameter Edit Window

•Editing Servo Parameters•Transfer (Upload, Download, and Compare)

Edited data are discarded and window is closed.

Edited data are enabled and window is closed.

All the edited Servo Parameters are set back to their default settings.

www.infoPLC.net

51

CX-Motion-NCF Precautions

1. Installation Precautions2. OS (Precaution for use on Windows 2000)3. Communications recovery after PLC power OFF4. Uploading Unit Parameters (relation to Axis Map)5. Error that cannot be reset from the Tool

www.infoPLC.net

52

CX-Motion-NCF Precaution 1

Installation Order1. CX-Server2. CX-Motion-NCF

* To be installed separately.CX-Server VersionVer.2.2 or higher required (Ver.2.2 bundled with CX-Motion-NCF)* CX-Motion-NCF will not start up without Ver.2.2 or higher.

www.infoPLC.net

53


When using CX-Motion-NCF on Windows 2000

Make sure to use Windows 2000 Service Pack 3 or higher. Otherwise, CX-Motion-NCF cannot be operated normally.

www.infoPLC.net

54

CX-Motion-NCF Precaution 3If PLC power is turned OFF once, and back ON again with CX-Motion-NCF connected online, establishing the next communications may fail.

Recovery Method:1: Connect online again.2: Try executing online operations several times.

www.infoPLC.net

55


When the scan list in the Unit and the axis map on the Tool do not match with each other, uploading Unit Parameters on the Unit Parameter Edit Window cannot be executed.

Workaround:1: Batch uploading2: Compare scan list and axis map, and arrange

axes so that they could match.

www.infoPLC.net

56


Errors that cannot be reset from the Tool• MECHATROLINK communications error→ Required to release the connection to reset the error

• Errors reset when Servo is turned OFF and back ON→ Turn OFF the Servo once, and then back ON again

www.infoPLC.net

57

How to Use CX-Motion-NCFTo be explained using the actual software application.

– Start, Exit– Edit– Transfer– Monitor– JOG

www.infoPLC.net

58


PCU Settings– PT(Smart Active Parts)

www.infoPLC.net

59

5.Comparison with Existing Models

Operation Manual page 9Functional difference- No memory operation -

www.infoPLC.net

60

Changing to CJ1W-NCF71 from CJ1W-NC

Operation Manual Appendix E

www.infoPLC.net

61

6. Maintenance

Replacing PCUs– Backup Data of Unit Parameters

• Through either of the following 2 methods, Unit Parameters of PCU can be backed up into or restored from the CF Card inserted in the card slot on CPU Unit.

– Simple backup operation on CPU Unit (Entire system)– Individual Unit backup using PCU’s Operating Memory

* With this backup function, only the parameters saved in the built-in FROM on PCU can be backed up.Parameters set on the Servo Driver are not backed up into the CF Card.

www.infoPLC.net

Documents

CJ Series Position Control Unit Model CJ1W-NCF71 ... · PDF fileCJ Series Position Control Unit Model CJ1W-NCF71 Introduction to CJ1W-NCF71