CS1W-MCH71 Datasheet, PDF (4/11 Pages) Omron Electronics LLC – Improve Equipment Design Efficiency and Shorten Tact Time

CJ1W-MCH71
Control Opera-
tions according to
motion program
Item
Positioning (PTP)
Linear interpolation
Circular interpolation
Origin search
Interrupt feeding
Time-specified Position-
ing
Traverse function
Electronic Cam,
Single Axis
Synchronous Electronic
cam
Link operation
Electronic Shaft
Trailing synchronous
operation
Speed command
Torque command
Acceleration/deceleration curve
Acceleration/
Acceleration/decelera-
deceleration time tion time
S-shape time constant
External I/O
For high-speed servo
communication bus
Servo encoder
I/O
Feed rate
External power supply
for I/O
Rapid feed rate
Interpolation feed rate
Override
Internal override (sup-
ported for unit version
3.1 and later)
Axis control
Backlash compensation
In-position
Position loop gain
Feed forward gain
Specifications
Executes positioning independently for each axis at the speed set in the system parameters.
Simultaneous specification: 8 axes max. /block
Simultaneous execution: 32 blocks max. /unit
Executes linear interpolation for up to 8 axes simultaneously at the specified interpolation speed.
Simultaneous specification: 8 axes max. /block
Simultaneous execution: 32 blocks max. /system
Executes clockwise or counterclockwise circular interpolation for two axes at their specified interpolation speed.
Simultaneous specification: 2 or 3 axes/block
Simultaneous execution: 16 blocks max. /system
Defines the machine origin according to the search method set in the system parameters.
An offset can be specified for the position after the origin search.
The absolute encoder can also execute origin search.
By means of inputs to the servo driver, moves a specified axis for a specified travel distance to perform position-
ing.
Executes positioning with time specified.
Performs winding operation (traverse control) with two specified axes.
Execute cam operation according to the specified cam table data with reference to elapse of time.
Executes cam operation according to the specified cam table data with reference to the position of the specified
axis.
Executes link operation according to set conditions with reference to the position of the specified axis.
Executes synchronous operation at a speed calculated with the speed of the specified axis and gear ratio.
Executes trailing + synchronous operations with reference to the position of the specified axis.
Outputs speed commands to the specified axis.
Outputs torque commands to the specified axis.
Trapezoidal or S-shape
60000 ms max.
30000 ms max.
One port for MECHATROLINK-II
Incremental rotary encoder
Absolute rotary encoder (Unlimited length ABS supported with some conditions)
Deceleration stop input (or servo-OFF stop): 1 pt
General input: 2 pts
General output: 2 pts
24 V
1 to 2147483647 [Command unit/min]
1 to 2147483647 [Command unit/min]
Changes the operation speed by applying a given factor to the speed specified by the system parameters or the
motion program.
0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task)
The feed rate of the following commands can be set by the motion program.
Command Rate to which override is applied
MOVE
Rapid feed rate
DATUM
Origin return feed rate
MOVEI
Rapid feed rate, external positioning rate
MOVET
Rapid feed rate
The actual feed rate is calculated using the following formula.
Actual feed rate = Axis feed rate × (Axis override + Internal override)
Compensates mechanical backlash (the mechanical play between driving and driven axes) with a value regis-
tered in advance.
This function uses a parameter in the servo driver.
This function is used whether a positioning is completed or not.
This function uses a parameter in the servo driver.
This is the position loop gain of the servo driver.
This function uses a parameter in the servo driver.
The command values created in the MC Unit are multiplied by this feed forward gain.
This function uses a parameter in the Servo Driver.
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