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.