International Standards
- The standards are abbreviated as follows: U: UL, U1: UL(Class I Division 2 Products for Hazardous Locations), C: CSA, UC: cULus, UC1: cULus (Class I Division 2 Products for Hazardous Locations), CU: cUL, N: NK, L: Lloyd, and CE: EC Directives.
- Contact your OMRON representative for further details and applicable conditions for these standards.
Position Control Units with EtherCAT interface
| Unit type | Product Name | Specifications | No. of unit numbers allocated | Current consump- tion (A) | Model | Stand- ards | ||
|---|---|---|---|---|---|---|---|---|
| Control output interface | No. of axes | 5 V | 24 V | |||||
| CJ1 CPU Bus Units | Position Control Units with EtherCAT interface | Control commands executed by EtherCAT communications. Positioning functions: Memory operation, Direct operation by ladder programming | 2 axes | 1 | 0.46 | - | CJ1W-NC281 | UC1, CE |
| 4 axes | CJ1W-NC481 | |||||||
| 8 axes | CJ1W-NC881 | |||||||
| 16 axes | CJ1W-NCF81 | |||||||
| Control commands executed by EtherCAT communications. Positioning functions: Memory operation, Direct operation by ladder programming I/O communications: 64 nodes | 4 axes | 1 | 0.46 | - | CJ1W-NC482 | |||
| 8 axes | CJ1W-NC882 | |||||||
| 16 axes | CJ1W-NCF82 | |||||||
Note: 1. There is no accessory for the CJ-series Position Control Unit with EtherCAT interface.
2. This unit cannot be used, with the Machine Automation Controller NJ-series.
2. This unit cannot be used, with the Machine Automation Controller NJ-series.
Recommended EtherCAT Communications Cables
Use Straight STP (shielded twisted-pair) cable of category 5 or higher with double shielding (braiding and aluminum foil tape) for EtherCAT.
Cabel with Connectors
| Item | Appearance | Recommended manufacturer | Cable length (m) | Model |
|---|---|---|---|---|
| Standard type Cable with Connectors on Both Ends (RJ45/RJ45) Wire Gauge and Number of Pairs: AWG27, 4-pair Cable Cable Sheath material: LSZH *2 Cable color: Yellow *3 |  | OMRON | 0.3 | XS6W-6LSZH8SS30CM-Y |
| 0.5 | XS6W-6LSZH8SS50CM-Y | |||
| 1 | XS6W-6LSZH8SS100CM-Y | |||
| 2 | XS6W-6LSZH8SS200CM-Y | |||
| 3 | XS6W-6LSZH8SS300CM-Y | |||
| 5 | XS6W-6LSZH8SS500CM-Y | |||
| Rugged type Cable with Connectors on Both Ends (RJ45/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable |  | OMRON | 0.3 | XS5W-T421-AMD-K |
| 0.5 | XS5W-T421-BMD-K | |||
| 1 | XS5W-T421-CMD-K | |||
| 2 | XS5W-T421-DMD-K | |||
| 5 | XS5W-T421-GMD-K | |||
| 10 | XS5W-T421-JMD-K | |||
| Rugged type Cable with Connectors on Both Ends (M12 Straight/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable |  | OMRON | 0.3 | XS5W-T421-AMC-K |
| 0.5 | XS5W-T421-BMC-K | |||
| 1 | XS5W-T421-CMC-K | |||
| 2 | XS5W-T421-DMC-K | |||
| 5 | XS5W-T421-GMC-K | |||
| 10 | XS5W-T421-JMC-K | |||
| Rugged type Cable with Connectors on Both Ends (M12 Right-angle/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable |  | OMRON | 0.3 | XS5W-T422-AMC-K |
| 0.5 | XS5W-T422-BMC-K | |||
| 1 | XS5W-T422-CMC-K | |||
| 2 | XS5W-T422-DMC-K | |||
| 5 | XS5W-T422-GMC-K | |||
| 10 | XS5W-T422-JMC-K |
Note: For details, refer to Cat.No.G019.
*1. Standard type cables length 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15 and 20m are available.
Rugged type cables length 0.3, 0.5, 1, 2, 3, 5, 10 and 15m are available.
*2. The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use.
*3. Cables colors are available in blue, yellow, or Green.
*1. Standard type cables length 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15 and 20m are available.
Rugged type cables length 0.3, 0.5, 1, 2, 3, 5, 10 and 15m are available.
*2. The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use.
*3. Cables colors are available in blue, yellow, or Green.
Cables/Connectors
Wire Gauge and Number of Pairs: AWG24, 4-pair Cable
| Item | Appearance | Recommended manufacturer | Model |
|---|---|---|---|
| Cable | - | Hitachi Metals, Ltd. | NETSTAR-C5E SAB 0.5✕4P * |
| - | Kuramo Electric Co. | KETH-SB * | |
| - | SWCC Showa Cable Systems Co. | FAE-5004 * | |
| RJ45 Connectors | - | Panduit Corporation | MPS588-C * |
* We recommend you to use above cable and connector together.
Wire Gauge and Number of Pairs: AWG22, 2-pair Cable
| Item | Appearance | Recommended manufacturer | Model |
|---|---|---|---|
| Cable | - | Kuramo Electric Co. | KETH-PSB-OMR * |
| - | JMACS Japan Co., Ltd. | PNET/B * | |
| RJ45 Assembly Connector |  | OMRON | XS6G-T421-1 * |
Note: Connect both ends of cable shielded wires to the connector hoods.
* We recommend you to use above cable and connector together.
* We recommend you to use above cable and connector together.
Support Software
| Product name | Specifications | Model | Stand- ards | ||
|---|---|---|---|---|---|
| Number of licenses | Media | ||||
| FA Integrated Tool Package CX-One Ver.4.[] | The CX-One is a comprehensive software package that integrates Support Software for OMRON PLCs and components. CX-One runs on the following OS. OS: Windows XP (Service Pack 3 or higher, 32-bit version) / Windows Vista (32-bit/64-bit version) / Windows 7 (32-bit/64-bit version) / Windows 8(32-bit/64-bit version)/ Windows 8.1(32-bit/64-bit version) CX-One Version 4.[] includes CX-Programmer Ver.9.[]. | 1 license * | DVD | CXONE-AL01D-V4 | - |
* Multi licenses are available for the CX-One (3, 10, 30 or 50 licenses).
General Specifications
| Item | CJ1W-NC281/-NC481/-NC881/-NCF81/-NC482/-NC882/-NCF82 |
|---|---|
| Dimensions | 90 × 65 × 31 mm (H × D × W) |
| Weight | 110 g max. |
| Internal current consumption | 460 mA max. at 5 VDC |
| Ambient operating temperature | 0 to 55°C |
| Applicable standards | Conforms to cULus and EC Directives. |
Note: All other specifications conform to the general specifications of the CJ Series.
Characteristics
| Item | Models | |||||
|---|---|---|---|---|---|---|
| Servo control only | ||||||
| CJ1W-NC281 | CJ1W-NC481 | CJ1W-NC881 | CJ1W-NCF81 | |||
| Applicable PLCs | CJ Series | |||||
| Settable unit numbers | 0 to F (unit number as a CPU Bus Unit) | |||||
| Maximum number of Units | 10 Units per Rack, 16 Units per PLC (Can be used on Expansion Racks.) | |||||
| Allocated I/O words | Position Control Unit Control Memory Areas | 25 words in CPU Bus Unit Area | ||||
| Axis Operation Memory Areas | 43 words for each control axis (2 + 12 output words and 13 + 16 input words) in specified words in the CIO, Work, DM, or EM Area. | |||||
| Memory Operation Memory Areas | 7 words for each task (3 output words and 4 input words) in specified words in the CIO, Work, DM, or EM Area | |||||
| I/O Memory Areas | --- | |||||
| Controllable Servo Drives *1 | G5-series Servo Drives with Built-in EtherCAT Communications | |||||
| Controllable encoder input terminal *2 *3 | --- | |||||
| Control method | Control commands using EtherCAT communication | |||||
| Number of controlled axes | 2 axes | 4 axes | 8 axes | 16 axes | ||
| Maximum command output speed | 104 Mpps *4 | |||||
| Control units | Setting unit | Pulses, millimeters, inches, or degrees | ||||
| Unit multiplier *5 | ×1, ×10, ×100, ×1,000, or ×10,000 | |||||
| Electronic gear ratio *5 | Unit version 1.1 or earlier: 1/1 to 1,048,576/1,048,576 Unit version 1.3 or later: 1/1 to 4,294,967,295/4,294,967,295 | |||||
| Positioning functions | Memory operation or direct operation | |||||
| Single axis control | Position control | 2 axes | 4 axes | 8 axes | 16 axes | |
| Speed control | 2 axes | 4 axes | 8 axes | 16 axes | ||
| Inter- polated control | Linear interpolation | 2 axes max. | 4 axes max. | 4 axes max. | 4 axes max. | |
| Circular interpolation | 2 axes | 2 axes | 2 axes | 2 axes | ||
| Helical interpolation *3 | --- | --- | --- | --- | ||
| Memory operation | Maximum number of tasks | 2 | 4 | 4 *6 | 4 *6 | |
| Sequence functions | JUMP, FOR-NEXT (50 layers/task), PSET, and PRSET | |||||
| Dwell timers | 500/task, 0 to 10.00 s (Set in increments of 0.01 s.) | |||||
| Position command values | Data | -2,147,483,648 to 2,147,483,647 command units *7 | ||||
| Number of position command values | 500/task | |||||
| Speed command values | Data *8 | Position control: 1 to 2,147,483,647 command units/s Speed control: -2,147,483,648 to 2,147,483,647 command units/s | ||||
| Number of speed command values | 500/task | |||||
| Accel- eration times | Data | 0 to 250,000 ms | ||||
| Number of acceleration times | 500/task | |||||
| Decel- eration times | Data | 0 to 250,000 ms | ||||
| Number of deceleration times | 500/task | |||||
| Auxiliary functions | Overrides | 0.01% to 500.00% (Can be set for each axis.) | ||||
| Software limits | -2,147,483,647 to 2,147,483,646 command units (Can be set for each axis.) | |||||
| Backlash compensation | Backlash compensation is performed using the compensation function in the Servo Drive. The setting range depends on the specifications of the Servo Drive. | |||||
| Torque Limits | Unit version 1.1 or earlier: Supports only the ability to enable or disable the torque limits by turning ON or OFF the command bits. Unit version 1.3 or later: Supports the ability to change the torque limit data via the Memory Area/Synchronous Data Link in addition to the ability to enable or disable the torque limits by turning ON or OFF the command bits. | |||||
| Synchronous Data Link function | None | |||||
| Control perfor- mance | Control cycle | 0.5 ms | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes 2 ms when using 5 to 8 axes | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes 2 ms when using 5 to 16 axes | |
| Communications cycle | 250 µs | 250 µs when using 1 to 4 axes 500 µs when using 5 to 8 axes | 250 µs when using 1 to 4 axes 500 µs when using 5 to 10 axes 1.0 ms when using 11 to 16 axes | |||
| Starting time *9 | Direct operation (high-speed PTP) *10 | 0.15 to 0.4 ms | 0.15 to 0.4 ms when using 1 to 4 axes 0.15 to 0.8 ms when using 5 to 8 axes | 0.15 to 0.4 ms when using 1 to 4 axes 0.15 to 0.8 ms when using 5 to 10 axes 0.15 to 1.2 ms when using 11 to 16 axes | ||
| Direct operation (bits) *11 | 0.75 to 1.25 ms | 1.25 to 2.25 ms | 2.5 to 4.5 ms | 3.0 to 5.0 ms | ||
| Memory operation (linear interpolation) *11 | 1.75 to 2.25 ms | 3.25 to 4.25 ms | 6.5 to 8.5 ms | 7.0 to 9.0 ms | ||
| Control I/O | Servo Drive interface | Communications port | EtherCAT port × 1 | |||
| Output signals | There are no external output signals for external outputs. The following command bits are provided for each axis for Servo Drive control: Deviation Counter Reset Bit, Alarm Reset Bit, Servo Lock Bit, Servo Unlock Bit, and Torque Limit Bits. | |||||
| Input signals | There are no external input signals for external inputs. The following status flags are provided for each axis for Servo Drive control: Origin Input Flag, Servo Drive Alarm Input Flag, and Positioning Completed Input Flag. | |||||
| External interface signals *12 | 6 signals (external origin signal, origin proximity signal, forward limit signal, reverse limit signal, emergency stop signal, and interrupt input signal) for each axis | |||||
| Item | Models | ||||
|---|---|---|---|---|---|
| Servo control + I/O communications | |||||
| CJ1W-NC482 | CJ1W-NC882 | CJ1W-NCF82 | |||
| Applicable PLCs | CJ Series | ||||
| Settable unit numbers | 0 to F (unit number as a CPU Bus Unit) | ||||
| Maximum number of Units | 10 Units per Rack, 16 Units per PLC (Can be used on Expansion Racks.) | ||||
| Allocated I/O words | Position Control Unit Control Memory Areas | 25 words in CPU Bus Unit Area | |||
| Axis Operation Memory Areas | 43 words for each control axis (2 + 12 output words and 13 + 16 input words) in specified words in the CIO, Work, DM, or EM Area. | ||||
| Memory Operation Memory Areas | 7 words for each task (3 output words and 4 input words) in specified words in the CIO, Work, DM, or EM Area | ||||
| I/O Memory Areas | 1,300 words maximum (Outputs: 640 words, inputs: 640 words, communications status: 20 words) in specified words in the CIO, Work, DM, or EM Area | ||||
| Controllable Servo Drives *1 | G5-series Servo Drives with Built-in EtherCAT Communications | ||||
| Controllable encoder input terminal *2 *3 | OMRON encoder input terminal GX-EC02[]1 | ||||
| Control method | Control commands using EtherCAT communication | ||||
| Number of controlled axes | 4 axes | 8 axes | 16 axes | ||
| Maximum command output speed | 104 Mpps *4 | ||||
| Control units | Setting unit | Pulses, millimeters, inches, or degrees | |||
| Unit multiplier *5 | ×1, ×10, ×100, ×1,000, or ×10,000 | ||||
| Electronic gear ratio *5 | Unit version 1.1 or earlier: 1/1 to 1,048,576/1,048,576 Unit version 1.3 or later: 1/1 to 4,294,967,295/4,294,967,295 | ||||
| Positioning functions | Memory operation or direct operation | ||||
| Single axis control | Position control | 4 axes | 8 axes | 16 axes | |
| Speed control | 4 axes | 8 axes | 16 axes | ||
| Inter- polated control | Linear interpolation | 4 axes max. | 4 axes max. | 4 axes max. | |
| Circular interpolation | 2 axes | 2 axes | 2 axes | ||
| Helical interpolation *3 | 3 axes | 3 axes | 3 axes | ||
| Memory operation | Maximum number of tasks | 4 | 4 *6 | 4 *6 | |
| Sequence functions | JUMP, FOR-NEXT (50 layers/task), PSET, and PRSET | ||||
| Dwell timers | 500/task, 0 to 10.00 s (Set in increments of 0.01 s.) | ||||
| Position command values | Data | -2,147,483,648 to 2,147,483,647 command units *7 | |||
| Number of position command values | 500/task | ||||
| Speed command values | Data *8 | Position control: 1 to 2,147,483,647 command units/s Speed control: -2,147,483,648 to 2,147,483,647 command units/s | |||
| Number of speed command values | 500/task | ||||
| Accel- eration times | Data | 0 to 250,000 ms | |||
| Number of acceleration times | 500/task | ||||
| Decel- eration times | Data | 0 to 250,000 ms | |||
| Number of deceleration times | 500/task | ||||
| Auxiliary functions | Overrides | 0.01% to 500.00% (Can be set for each axis.) | |||
| Software limits | -2,147,483,647 to 2,147,483,646 command units (Can be set for each axis.) | ||||
| Backlash compensation | Backlash compensation is performed using the compensation function in the Servo Drive. The setting range depends on the specifications of the Servo Drive. | ||||
| Torque Limits | Unit version 1.1 or earlier: Supports only the ability to enable or disable the torque limits by turning ON or OFF the command bits. Unit version 1.3 or later: Supports the ability to change the torque limit data via the Memory Area/Synchronous Data Link in addition to the ability to enable or disable the torque limits by turning ON or OFF the command bits. | ||||
| Synchronous Data Link function | Unit version 1.1 or earlier: None. Unit version 1.3 or later: Provides command support for velocity command data, torque command data, torque feedforward data, torque limit data, and velocity limitation value when used in conjunction with a CJ2H-CPU (unit version 1.4 or later). Unit version 1.5 or later: Provides command support for electronic cam operation. | ||||
| Control perfor- mance | Control cycle | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes 2 ms when using 5 to 8 axes | 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes 2 ms when using 5 to 16 axes | |
| Communications cycle | 250 µs | 250 µs when using 1 to 4 axes 500 µs when using 5 to 8 axes | 250 μs min. when using 1 to 4 axes 500 μs min. when using 5 to 10 axes 1.0 ms when using 11 to 16 axes | ||
| Starting time *9 | Direct operation (high-speed PTP) *10 | 0.15 to 0.4 ms | 0.15 to 0.4 ms when using 1 to 4 axes 0.15 to 0.8 ms when using 5 to 8 axes | 0.15 to 0.4 ms when using 1 to 4 axes 0.15 to 0.8 ms when using 5 to 10 axes 0.15 to 1.2 ms when using 11 to 16 axes | |
| Direct operation (bits) *11 | 1.25 to 2.25 ms | 2.5 to 4.5 ms | 3.0 to 5.0 ms | ||
| Memory operation (linear interpolation) *11 | 3.25 to 4.25 ms | 6.5 to 8.5 ms | 7.0 to 9.0 ms | ||
| Control I/O | Servo Drive interface | Communications port | EtherCAT port × 1 | ||
| Output signals | There are no external output signals for external outputs. The following command bits are provided for each axis for Servo Drive control: Deviation Counter Reset Bit, Alarm Reset Bit, Servo Lock Bit, Servo Unlock Bit, and Torque Limit Bits. | ||||
| Input signals | There are no external input signals for external inputs. The following status flags are provided for each axis for Servo Drive control: Origin Input Flag, Servo Drive Alarm Input Flag, and Positioning Completed Input Flag. | ||||
| External interface signals *12 | 6 signals (external origin signal, origin proximity signal, forward limit signal, reverse limit signal, emergency stop signal, and interrupt input signal) for each axis | ||||
*1. A controllable Servo Drive is Servo Drive for which you can use the position control functions of the Position Control
Unit.
*2. A controllable encoder input terminal is a slave for which you can use the encoder axis function of the Position
Control Unit.
*3. Available with unit version 1.5 or later.
*4. This is the maximum speed command when converted to pulses.
*5. Command units can be set for each axis according to the electronic gear ratio and unit multiplier.
*6. Up to four axes can be controlled by each task.
*7. Setting is possible between -2,147,483,648 and 2,147,483,647 pulses.
*8. The command can be set to up to 104,857,600 pps when converted to pulses.
*9. This is the time from executing a command at the PLC until the command is output on EtherCAT communications.
Execution for command bits is in the I/O refresh period.
The starting time depends on the control cycle, communications cycle, and operating conditions.
Refer to Position Control Units Operation Manual (Cat. No. W487) for details.
*10. The starting time applies when starting one axis with a special Position Control Unit instruction and a CJ2M or CJ2H
CPU Unit with unit version 1.3 or later.
*11. These are the internal Position Control Unit processing times.
*12.Servo Drive inputs are used.
Unit.
*2. A controllable encoder input terminal is a slave for which you can use the encoder axis function of the Position
Control Unit.
*3. Available with unit version 1.5 or later.
*4. This is the maximum speed command when converted to pulses.
*5. Command units can be set for each axis according to the electronic gear ratio and unit multiplier.
*6. Up to four axes can be controlled by each task.
*7. Setting is possible between -2,147,483,648 and 2,147,483,647 pulses.
*8. The command can be set to up to 104,857,600 pps when converted to pulses.
*9. This is the time from executing a command at the PLC until the command is output on EtherCAT communications.
Execution for command bits is in the I/O refresh period.
The starting time depends on the control cycle, communications cycle, and operating conditions.
Refer to Position Control Units Operation Manual (Cat. No. W487) for details.
*10. The starting time applies when starting one axis with a special Position Control Unit instruction and a CJ2M or CJ2H
CPU Unit with unit version 1.3 or later.
*11. These are the internal Position Control Unit processing times.
*12.Servo Drive inputs are used.
EtherCAT Communications Specifications
| Item | Characteristics | ||||||
|---|---|---|---|---|---|---|---|
| Servo control only | Servo control + I/O communications | ||||||
| CJ1W- NC281 | CJ1W- NC481 | CJ1W- NC881 | CJ1W- NCF81 | CJ1W- NC482 | CJ1W- NC882 | CJ1W- NCF82 | |
| Communications standard | IEC 61158 Type12 | ||||||
| Physical layer | 100Base-TX (IEEE802.3) | ||||||
| Connector | RJ45 shielded connector × 1 | ||||||
| Communications media | Category 5 or higher (Recommended: cable with double, aluminum tape and braided shielding) | ||||||
| Communications distance | 100 m max. between nodes | ||||||
| Topology | Daisy chain only *1 | ||||||
| EtherCAT Master Specifications | Class B (minimum master-CoE compatible (no information service for SDO)) | ||||||
| Maximum number of slaves *2 | 2 | 4 | 8 | 16 | 68 | 72 | 80 |
| Node address setting range | 1 to 2 | 1 to 4 | 1 to 8 | 1 to 16 | 1 to 4 and 17 to 80 *3 | 1 to 8 and 17 to 80 *3 | 1 to 16 and 17 to 80 *3 |
| Communications cycle *4 | 250 µs, 500 µs, 1 ms, or 2 ms | ||||||
| Process data | Fixed PDO mappings specified for the slaves are used (set using Support Software). | ||||||
| Mail box (CoE) | Emergency messages, SDO requests, SDO responses, and SDO information (Used for Position Control Unit communications control and slave device parameter transfers.) | ||||||
| LED indicators | ECAT RUN × 1 ECAT ERR × 1 L/A (Link/Activity) × 1 | ||||||
| CiA402 drive profile *5 | • Cyclic synchronous position mode • Cyclic synchronous velocity mode • Cyclic synchronous torque mode • Touch probe function • Torque limit function | ||||||
*1. Ethernet hubs cannot be used.
*2. This is the number of slaves, including Servo Drives and remote I/O slaves. The number of slaves that can be
connected is limited. Refer to Number of Remote I/O Connections for details.
*3. Node addresses 17 to 80 are reserved for remote I/O slaves.
*4. The setting range depends on the number of slaves that are connected and the slave specifications.
Refer to Position Control Units Operation Manual (Cat. No. W487) for details.
*5. This drive profile is used when connected to a G5-series Servo Drive.
*2. This is the number of slaves, including Servo Drives and remote I/O slaves. The number of slaves that can be
connected is limited. Refer to Number of Remote I/O Connections for details.
*3. Node addresses 17 to 80 are reserved for remote I/O slaves.
*4. The setting range depends on the number of slaves that are connected and the slave specifications.
Refer to Position Control Units Operation Manual (Cat. No. W487) for details.
*5. This drive profile is used when connected to a G5-series Servo Drive.
Number of Remote I/O Connections
The Position Control Unit has the memory of up to 640 bytes for inputs and 640 bytes for outputs to be used for PDO communications.
The number of slaves that can be connected to the CJ1W-NC482/NC882/NCF82 is determined by the maximum memory size for PDO communications.
The memory of the PDO communication is shared with the Servo Drives; therefore, the number of I/O slaves that can be connected changes with the number of G5 Series Servo Drive (number of use axes) that are connected to the Position Control Unit.
The number of slaves that can be connected to the CJ1W-NC482/NC882/NCF82 is determined by the maximum memory size for PDO communications.
The memory of the PDO communication is shared with the Servo Drives; therefore, the number of I/O slaves that can be connected changes with the number of G5 Series Servo Drive (number of use axes) that are connected to the Position Control Unit.
| Number of Servo Drive axes | Size used by Servo Drive axes (bytes) * | Remaining PDO communications memory size (bytes) | Number of slaves that can be connected according to slave I/O size (guidelines) | ||||
|---|---|---|---|---|---|---|---|
| IN | OUT | 8 bytes of I/O (4 input and 4 output bytes) | 16 bytes of I/O (8 input and 8 output bytes) | 32 bytes of I/O (16 input and 16 output bytes) | 64 bytes of I/O (32 input and 32 output bytes) | ||
| 0 axis | 0 | 640 | 640 | 64 | 64 | 40 | 20 |
| 1 axis | 29 | 611 | 611 | 64 | 64 | 38 | 19 |
| 2 axes | 58 | 582 | 582 | 64 | 64 | 36 | 18 |
| 4 axes | 116 | 524 | 524 | 64 | 64 | 32 | 16 |
| 8 axes | 232 | 408 | 408 | 64 | 51 | 25 | 12 |
| 16 axes | 464 | 176 | 176 | 64 | 22 | 11 | 5 |
* The G5-series Servo Drives also use IN and OUT bytes. The factory default of the PDO communications size is 29 bytes.
Functional Specifications
The following functions are supported when the Position Control Unit is connected to an EtherCAT-compatible OMNUC G5-series Servo Drive.
| Function | Description | ||
|---|---|---|---|
| Control functions | Single axis control | Absolute movements | Positioning is performed by specifying the absolute or relative target position and target speed directly from the ladder program. |
| Relative movements | |||
| Speed control | Feeding at a specified speed is performed by specifying the target speed directly from the ladder program. Speed control is implemented using speed feeding with position control. | ||
| Interrupt feeding | Interrupt feeding can be used to move a specified amount when an interrupt input is received during an absolute movement, a relative movement, or speed control. | ||
| Rotation axis control | Rotation axes that are suitable for feeder and index table control can be controlled. Forward and reverse positioning and shortest route operations are possible. | ||
| Changing target positions and target speeds | The target position or target speed can be changed during an absolute movement, a relative movement, or speed control. | ||
| Multi-axis control | Linear interpolation | The operation of more than one axis is started and stopped simultaneously to move in a straight line to the target position from the starting point of each axis. Linear interpolation is possible for up to four axes. | |
| Circular interpolation | The operation of any two axes is controlled to move in a circular arc. Any of three methods can be used to specify a circular arc: specifying the target position and center point, specifying the target position, radius, and direction and specifying the target position and passing point. | ||
| Helical interpolation | Helical interpolation is performed by giving one more axis to circular interpolation. The number of turns can be specified. This function is available with CJ1W-NC[]82 (unit version 1.5 or later). | ||
| Memory operation | Automatic continuous operation | The target positions, speeds, and operation patterns can be set in advance in the Position Control Unit to automatically perform a series of operations. Continuous positioning and speed changes are also possible. | |
| Sequence functions | Memory operation data provides sequence functions, including repetition of a given operation and starting/stopping operation data by using external inputs. Therefore, the Position Control Unit can perform various operation sequences without affecting the ladder programming in the CPU Unit. | ||
| Manual operation | Origin searches | External sensors and other means are used to detect the mechanical origin of the system. You can select the origin search operation that is best for your system from 15 different origin search operation patterns. | |
| Origin returns | You can return to the point that was defined as the mechanical origin. | ||
| Presetting the present position | The present position can be changed to a specified value to define the origin. | ||
| Deceleration stops and emergency stops | An axis that is in operation can be decelerated to a stop or stopped immediately. | ||
| Jogging | You can jog either forward or in reverse. | ||
| Inching | You can inch either forward or in reverse. | ||
| Synchronous Data Link | The CJ1W-NC[]82 (unit version 1.3 or later) can perform data exchange between the CPU and Position Control Unit at regular intervals when used in conjunction with a CJ2H CPU (unit version 1.4 or later). In addition, you can use this function to perform synchronous feeding position, synchronous feeding velocity, and synchronous feeding torque control. Also, optional commands are available for torque feedforward data, torque limit data, and velocity limitation value. CJ1W-NC[]82 (unit version 1.5 or later) supports command for electronic cam operation as well. | ||
| Auxiliary control functions | Command unit setting | You can set the unit of control for each axis according to the machine. | |
| Acceler- ation/ deceler- ation control | Automatic acceleration/ deceleration control | The acceleration/deceleration curve can be automatically created during operation. You can select either a trapezoidal curve or an S curve based on a tertiary function. | |
| Changing acceleration/ deceleration rates | You can change the rate of acceleration/deceleration during acceleration/deceleration. | ||
| Switching acceleration/ deceleration points | You can select one of three methods to connect speeds between different operation patterns during continuous memory operation. | ||
| Overrides | You can increase or decrease the operating speed of the system by a specified factor. | ||
| Backlash compensation | You can compensate for mechanical play using a parameter. | ||
| M codes | M codes can be output during memory operation to interlock with external devices. | ||
| Zone settings | You can set zones and assess when the present position is in a zone. Up to three zones can be set for each axis. | ||
| Support for absolute encoders | You can build an absolute positioning system by using a Servomotor with an Absolute Encoder. The Position Control Units can be used together with OMRON's G5-series Servomotors with Absolute Encoders. | ||
| Teaching | You can save the present position as position data for memory operation.You can use either the command present position or feedback present position. | ||
| Torque limit outputs | The torque limit outputs can be used to switch the torque limits of the Servo Drive. They can be turned ON and OFF directly from a ladder program. Torque limits can be automatically switched by using holding for an origin search operation. In addition, you can change the torque limit data via the Synchronous Data Link by using the CJ1W-NC[]82 (unit version 1.3 or later) in conjunction with a CJ2H-CPU (unit version 1.4 or later) and G5-series Servo Drive (version 2.0 or later). Also, you can change the torque limit data via the Memory Area by using the CJ1W-NC[]81/-NC[]82 (unit version 1.3 or later) in conjunction with a G5-series Servo Drive (version 2.0 or later). | ||
| Monitoring functions | Software limits | You can set forward and reverse software limits for axis operation. If the target position exceeds a software limit, it will be detected in the command value check that is performed at startup. | |
| Monitoring position/ speed deviations | The Position Control Unit monitors the position or speed deviation between the present command position and present feedback position. You can stop axis operation if the deviation is too large. | ||
| Monitoring deviation between axes | The deviation between axes is also monitored during linear interpolation. You can stop axis operation if the deviation is too large. | ||
Functions available when connected with OMRON encoder input terminal GX-EC02[]1 are as shown below.
They are available with CJ1W-NC[]82, unit version 1.5 or later.
They are available with CJ1W-NC[]82, unit version 1.5 or later.
| Function | Description | |
|---|---|---|
| Manual operation | Present position preset | The present position can be changed to a specified value to define the origin. |
| Auxiliary control functions | Command unit setting | You can set the unit of control for each axis according to the machine. |
| Zone settings | You can set a zone to check if the present position is in the set zone. Up to three zones can be set for each axis. | |
| Present position latch | The position data when an external control input (latch A) is detected at the encoder input terminal is stored in the Position Control Unit. | |
| Origin position latch | The position data when an external control input (latch B) is detected at the encoder input terminal is stored in the Position Control Unit. | |
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