CJ-series Motion Control Unit with MECHATROLINK-II interface CJ1W-MCH71 CSM_CJ1W-MCH71_DS_E_4_1 Improve Equipment Design Efficiency and Shorten Tact Time • Control Servos for up to 16 axes in a motion network with one Position Control Unit that supports MECHATROLINK-II * * MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association. CJ1W-MCH71 Features • High-precision motion control with less wiring using MECHATROLINK-II Servo communications with superior concurrency. • Many synchronization and axis control commands are supported to aid existing synchronized control applications and improve motion control tact time. • Program control commands (such as branching commands) and various arithmetic operations are supported for maximum motion programming efficiency. System Configuration Programmable Terminals NS-series Support Tool CX-Motion-MCH Programmable Controller CJ-series Motion Control Unit 30 axes max. CJ1W-MCH71 30 axes max., overall cable length:50m 50m max. OMNUC W series AC Servo Drive with General-purpose Pulse or Analog inputs (R88D-WT) Sensors (limit inputs, origin proximity inputs, etc.) MECHATROLINK-II Interface Unit OMNUC W series SMARTSTEP Junior AC Servo Drives with Built-in MECHATROLINK-II Communications (R88D-WN -ML2) AC Servo Drives with Built-in MECHATROLINK-II Communications (R7D-ZN -ML2) AC Servo motor(R88M-W) AC Servo motor(R7M-Z) (FNY-NS115) AC Servo motor (R88M-G) Connect a JEPMC-W6022 Terminator to the device at the end of the MECHATROLINK-II network. Note: OMNUC G5 series and G series cannot be connected with CJ1W-MCH71. 1 CJ1W-MCH71 Ordering Information 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. CJ-series Unit type Product name No. of unit numbers allocated Specifications Motion Control Unit with MECHATROLINK-II interface Control modes : Position, speed, or torque control via MECHATROLINK-II Control axes : 32 axes max. (30 physical axes, 2 virtual axes) Internal programming language: Special motion control language CJ1 CPU Bus Units Current consumption (A) 1 5V 24 V 0.60 --- Model Standards CJ1W-MCH71 UC1, CE Note: This unit cannot be used with the Machine Automation Controller NJ-series. Support Software Product name Specifications Number of licenses Media Model Standards 1 license *1 DVD *2 CXONE-AL01D-V4 --- 1 licence CD WS02-MOPC2 --- 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), Vista or 7 Note: Except for Windows XP 64-bit version FA Integrated Tool Package CX-One Ver. 4. CX-One Ver. 4. includes CX-Motion-MCH Ver. 2.. For details, refer to the CX-One catalog (Cat. No. R134). Windows 98SE/Me/NT4.0 (Service Pack6a)/ 2000 (Service Pack 3a or higher), or XP CAM Data Creation Tool *1. Multi licenses are available for the CX-One (3, 10, 30, or 50 licenses). *2. The CX-One is also available on CD (CXONE-AL@@C-V4). MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation) Name OMRON model number MECHATROLINK-II Interface Unit FNY-NS115 JUSP-NS115 Input : 64 Output : 64 FNY-IO2310 JEPMC-IO2310 Reversing Counter 2CH FNY-PL2900 JEPMC-PL2900 Pulse Positioning 2CH FNY-PL2910 JEPMC-PL2910 0.5 m FNY-W6003-A5 JEPMC-W6003-A5 1.0 m FNY-W6003-01 JEPMC-W6003-01 3.0 m FNY-W6003-03 JEPMC-W6003-03 5.0 m FNY-W6003-05 JEPMC-W6003-05 10.0 m FNY-W6003-10 JEPMC-W6003-10 20.0 m FNY-W6003-20 JEPMC-W6003-20 30.0 m FNY-W6003-30 JEPMC-W6003-30 24-VDC I/O Module Counter Module Pulse Output Module MECHATROLINK-II Cables (with ring core and USB connector on both ends) MECHATROLINK-II Terminating Resistor Terminating resistance MECHATROLINK-II Repeater Yaskawa model number For W-series Servo Driver Communications Repeater FNY-W6022 JEPMC-W6022 FNY-REP2000 JEPMC-REP2000 Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON using the OMRON model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.) Accessories None Mountable Racks * NJ system Model CJ1W-MCH71 CPU Rack Expansion Rack Not supported CJ system (CJ1, CJ2) CPU Rack Expansion Backplane 12 Units max per CPU Unit (3 Units per Rack) CP1H system NSJ system CP1H PLC NSJ Controller Expansion Backplane 2 Units * Not supported 10 Units * A CP1W-EXT01 CJ Unit Adaptor is required. 2 CJ1W-MCH71 Specifications General Specifications Item Model Specifications CJ1W-MCH71 Power supply voltage Voltage fluctuation tolerance 5 VDC (from Backplane) 24 VDC (from external power supply) 4.5 to 5.5 VDC (from Backplane) 21.6 to 26.4 VDC (from external power supply) Internal current consumption 5 VDC 0.6 A max. Weight (Connectors excluded) 210 g max. Safety standards UL, CSA, C-TICK, and EC Directives. Dimensions (mm) 90 (H) × 79.8 (W) × 65 (D) (single) Altitude At 2,000 m elevation or lower. Specifications other than those shown above conform to the general specifications for the CJ series. Functions and Performance Specifications Item Specifications Applicable PLC CJ-series PLCs with CPU Units with unit version 2.0 or later Type of Unit CPU Bus Unit Mounting CPU unit or expansion rack Number of Units Method for data transfer with CPU Unit One CJ1W-MCH71 Motion Control Unit requires the space of three standard Unit. CIO Area for CPU Bus Unit Occupies the area for 1 unit (25 words) DM Area for CPU Bus Unit Occupies the area for 1 unit (100 words) Custom Bit Area For axes: 0-64 words (Depending on the greatest number of the axis used) Custom Data Area For axes: 0-128 words (Depending on the greatest number of the axis used) Custom Data Area Controlled Devices For units and tasks: 11 to 25 words (Depending on the number of motion tasks) For units and tasks: 32 to 74 words (Depending on the number of motion tasks) For General I/O: 0-1280 words (Depending on setting) MECHATROLINK-II below supported • W-series Servo Driver with built-in communications functions • W-series Servo Driver (OMRON) + Communications I/F Unit (YASKAWA) • Various I/O units (YASKAWA) • SMARTSTEP Junior Servo Drive Up to 30 nodes * When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50m), a repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the cases described above. Built-in program language Dedicated motion control language Control Control method MECHATROLINK-II • Position commands, Speed commands, Torque commands Number of controlled axes 32 axes max. Physical axes/Virtual axes: 30 axes max. (Either can be selected for each axis) Dedicated for virtual axes: 2 axes Operating modes RUN mode, CPU mode, Tool mode/System (Depending on the tool) Automatic/Manual Mode Automatic mode: Executing built-in programs of MC Unit controls motion. Manual mode: Executing commands from CPU Unit (PC interface area) controls motion. Note: The Automatic or Manual Mode is set according to the PC Interface area of the CPU Unit. Control unit 1, 0.1, 0.01, 0.001, 0.0001 Minimum setting unit Units mm, inch, deg, pulse Maximum position command value -2147483647 to 2147483647 pulses (signed 32-bit) Mode for unlimited axes feeding is possible. Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001 mm, 10 mm/rev, the position command value range will be from -327679999 to 327679999 command units. Control operations based on commands from the CPU Unit Servo lock/unlock Executes Servo driver lock or unlock Jogging Executes continuous feeding independently for each axis, by means of speed set in system parameter x override. STEP operation Feeds a specified distance for a specified axis. Origin search Defines the machines origin according to the search method set in the system parameters. Forced origin Forcibly sets the present position to 0 to establish it as the origin. Absolute origin setting Sets the origin when an absolute encoder is used. Offset value: Signed 32-bit (pulses) Error counter reset Forcibly resets the error counter to 0. Present position preset Sets the present position to a user-specified value. Machine lock Prohibits the output of motion commands to the axes. Single block Executes the motion program one block at a time. Auto/manual change Switches between auto mode and manual mode. 3 CJ1W-MCH71 Item Control Operations according to motion program Specifications Positioning (PTP) 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 Linear interpolation 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 Circular interpolation 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 Origin search 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. Interrupt feeding By means of inputs to the servo driver, moves a specified axis for a specified travel distance to perform positioning. Time-specified Positioning Executes positioning with time specified. Traverse function Performs winding operation (traverse control) with two specified axes. Electronic Cam, Single Axis Execute cam operation according to the specified cam table data with reference to elapse of time. Synchronous Electronic cam Executes cam operation according to the specified cam table data with reference to the position of the specified axis. Link operation Executes link operation according to set conditions with reference to the position of the specified axis. Electronic Shaft Executes synchronous operation at a speed calculated with the speed of the specified axis and gear ratio. Trailing synchronous operation Executes trailing + synchronous operations with reference to the position of the specified axis. Speed command Outputs speed commands to the specified axis. Torque command Outputs torque commands to the specified axis. Acceleration/deceleration curve Trapezoidal or S-shape Acceleration/ deceleration time Acceleration/deceleration time 60000 ms max. S-shape time constant 30000 ms max. For high-speed servo communication bus One port for MECHATROLINK-II External I/O Feed rate Axis control Servo encoder Incremental rotary encoder Absolute rotary encoder (Unlimited length ABS supported with some conditions) I/O Deceleration stop input (or servo-OFF stop): 1 pt General input: 2 pts General output: 2 pts External power supply for I/O 24 V Rapid feed rate 1 to 2147483647 [Command unit/min] Interpolation feed rate 1 to 2147483647 [Command unit/min] Override 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) Internal override (supported for unit version 3.1 and later) 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) Backlash compensation Compensates mechanical backlash (the mechanical play between driving and driven axes) with a value registered in advance. This function uses a parameter in the servo driver. In-position This function is used whether a positioning is completed or not. This function uses a parameter in the servo driver. Position loop gain This is the position loop gain of the servo driver. This function uses a parameter in the servo driver. Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain. This function uses a parameter in the Servo Driver. 4 CJ1W-MCH71 Item Program Number of tasks Specifications Motion task: 8 tasks max. Parallel branching in task Motion task: 8 branches max. Saving program data Number of programs 256 programs max. /unit The program Nos. used for programs are from 0000 to 0999. Program numbers 0000 to 0499: Main programs for motion tasks 0500 to 0999: Sub-programs for motion tasks Program capacity 2 Mbytes 8000 blocks max. /unit by motion program conversion. Number of blocks 800 blocks/program Position data capacity 10240 points/unit Sub-program nesting 5 levels max. Start Starts program operation from program (of another task) Start mode Motion task: Initial, continue, next Deceleration stop Motion task: Executes deceleration stop regardless of block Block stop Motion task: Executes deceleration stop at the end of the block currently being executed. Single-block mode Motion task: the program is executed one block at a time. Breakpoints (supported for unit version 3.0 and later.) Breakpoints can be set for any block using the Support Tool. When a breakpoint is set for a block, program execution will stop after that block has been executed. MC Unit Flash memory backup Zones (supported for unit version 3.0 and later.) The zone bit turns ON when any variable (including feedback present position, feedback speed, etc.) is within the set range, and OFF when outside of the set range. A maximum of 32 zones can be set. Data tracing (supported for unit version 3.0 and later.) A maximum of two groups can be simultaneously traced, with 1 to 16 data items in each group. Note: The items that can be traced are bits and data. These are each handled as a single item. The number of data samples that can be collected is 2,048 samples when 16 items are set for tracing to 32,768 when only 1 item is set for tracing. Self-diagnostic function Watchdog, FLASH-ROM check, RAM check, etc. Error detection function Deceleration stop input, unit number error, CPU Unit error, software limit over errors, etc. Error log function The error log is to be read from the CPU Unit by means of the IORD instructions as needed. Alarm reset Alarm reset Program and CAM data read protection (supported for unit version 3.1 and later) Third party access to program and CAM data can be restricted using the CX-Motion-MCH version 2.1 read protection function (password setting). 5 CJ1W-MCH71 Functions Electronic Shaft (Electronic Gear) (CONNECT) Electronic Links (SYNC) This function synchronizes with the main axis at the specified gear ratio. It allows for reductions in mechanical functions and labor requirements for machinery maintenance. This function enables the specified synchronized operation with acceleration at the start of synchronization, a ratio during synchronization, and deceleration at the end of synchronization. These specifications are specific for the actual application operation, enabling easy achievement of various types of synchronization operations. Electronic Cam (CAM, CAMBOX) An independent electronic cam can be positioned according to execution times specified in the cam data, and a synchronized electronic cam can be operated according to a cam table in synchronization with a specified main axis. A total of 16,000 points for all Units combined can be included for the cam data, and 32 cam tables can be set, enabling complex operations. Amount of main axis travel during acceleration Master axis Virtual Axes Any axis can be set as an axis performing an ideal movement. Setting it as the main axis for synchronized control simplifies design and debugging of programs and adjustment of synchronized operations. Also, when slippage occurs in motor operation and workpiece operation, the amount of compensation (for the amount of slippage) can be set as the target value for the virtual axis, and the compensation operation can be easily executed by means of the add axis travel function. Add Axis Travel (ADDAX, ADDAXR) This function adds the operation of a superimposed axis to a specified axis, making it easy to perform compensation in feeder and synchronization operations. Amount of main axis travel during deceleration Slave axis Other Operations Various applications are made possible by means of a wide range of commands, such as MOVE TIME (MOVET), CHANGE TARGET (MOVEMODI), LATCH (LATCH: With hardware latch and window functions), TRAVERSE (MOVETRAV), TORQUE (TORQUE, TORQUER), SPEED (SPEED, SPEEDR). Superimposed axis Specified axis Start (ADDAX) Stop (ADDAXR) Follow-up Synchronization (SYNC, SYNCR) From standby status, this function starts follow-up operation when the marker sensor turns ON and executes follow-up synchronization with the main axis. This is ideal for applications that process workpieces without stopping the line. Follow-up operation interval Follow-up synchronization interval Master axis Follow-up operation travel amount Slave axis SYNC command Marker sensor ON SYNCR command 6 CJ1W-MCH71 Commands Classification Axis movement Starting and stopping axis operations Settings Controls Simple operations Logical operations Functions Bit operations Data operations Name Command Function MOVE, LINEAR INTERPOLATION, CIRCULAR INTERPOLATION MOVE, MOVEL, MOVEC Moves axes individually, or using linear or circular interpolation. ORIGIN SEARCH DATUM Finds the machine origin according to input signals. INTERRUPT INCHING MOVEI Changes the position by inching according to input signals. MOVE TIME MOVET Positions according to a specified time. TRAVERSE MOVETRAV Executes a winding operation. INDEPENDENT ELECTRONIC CAM CAM Executes cam operations according to a table. LINK MOVELINK Synchronizes with the main axis with acceleration and deceleration. SYNCHRONIZED ELECTRONIC CAM CAMBOX Executes a cam operation according to a table and main axis. ELECTRONIC SHAFT CONNECT Synchronizes at fixed rate to main axis. FOLLOW-UP SYNCHRONIZATION SYNC Follows and synchronizes with the main axis. STOP SYNCHRONIZATION SYNCR Stops MOVELINK, CAMBOX, CONNECT, and SYNC. ADD AXIS TRAVEL ADDAX, ADDAXR Starts and stops the accumulation of travel amounts between axes. START SPEED, END SPEED SPEED, SPEEDR Outputs and stops a speed reference. START TORQUE, END TORQUE TORQUE, TORQUER Outputs and stops a torque reference. CHANGE TARGET MOVEMODI Changes the target position for the axis that is travelling. ABSOLUTE SPECIFICATION, INCREMENTAL SPECIFICATION ABL, INC Handles coordinates as absolute or incremental values. CHANGE PARAMETER PARAM Changes parameter values at one time. PASS MODE PASSMODE Specifies operations with interpolation blocks connected. STOP MODE STOPMODE Waits for the interpolation block to be in position. SELECT MACHINE COORDINATE SYSTEM, SELECT WORKPIECE COORDINATE SYSTEM ORIGIN, WORK Selects either the machine coordinate system or the workpiece coordinate system. CHANGE WORKPIECE ORIGIN OFFSET OFFPOS Changes the offset of the workpiece coordinate system. LATCH LATCH Latches the present position. IGNORE SINGLE BLOCK NSTOP Ignores single block mode. PROGRAM START, PROGRAM END PROG, END Marks the beginning or end of a program. SUBPROGRAM CALL, SUBPROGRAM END GOSUB, RETURN Calls a subprogram or ends a subprogram and returns to the source of the call. DWELL, WAIT DWELL, WAIT Waits for a specified length of time or for a specified condition to be met and then executes the next block. OPTIONAL END STOPOP Stops the block being executed when a specified condition is met. Conditional Branching IF, ELS, ENDIF Branches according to conditions. WHILE Repeat Commands WHILE, WEND Repeats until any specified condition is met. FOR Repeat Commands FOR, NEXT Repeats until specified count (constant, variable, or immediate) is met. Parallel Execution PARALLEL, JOINT, JWAIT Executes in parallel for the specified interval. Selected Execution SWITCH, CASE, BREAK, DEFAULT, SEND Switches and executes the specified section according to conditions. NO OPERATION SINGLE, NO OPERATION MULTIPLE NOPS, NOPM Nothing is executed. (Single or multiple execution command) SUBSTITUTION = Substitutes values for variables. Arithmetic Operations +, - , ∗ , / , ^ Performs addition, subtraction, multiplication, division, and power operations. REMAINDER % Finds the remainder in division operations. OR/XOR/AND/NOT |, ., &, ! Performs logical OR, XOR, AND, and NOT operations. ABSOLUTE ABS Finds the absolute value. SINE, COSINE, ASINE, ACOSINE SIN, COS, ASIN, ACOS Finds the sine, cosine, arcsine, or arccosine. TANGENT, ATANGENT TAN, ATAN Finds the tangent or arctangent. SQUARE ROOT, EXPONENT, LOGARITHM SQR, EXP, LOG Finds the square root, exponent, or logarithm. FRACTION FRAC Finds the decimal portion. SIGN SGN 1 if greater than 0, and -1 if negative. BIT ON, BIT OFF SET, RESET Turns a specified bit ON or OFF. RIGHT SHIFT, LEFT SHIFT SFTR, SFTL Shifts right or left for the specified number of bits. BCD → BIN/BIN → BCD BIN, BCD Converts from BCD to binary, or from binary to BCD. BLOCK TRANSFER, BLOCK CLEAR XFER, CLEAR Transfers or clears a block of data. 7 CJ1W-MCH71 External Interface MCH71 RUN ERC ER1 ER2 ERH ER3 ER4 LED Indicators MLK SSI UNIT No. Setting switch UNIT No. MLK MECHATROLINK-II connector T.B connector, SSI connector (Cannot be used) SSI I/O I/O connector LED Indicators Name RUN (RUN) Color Green ERC (MC Unit Error) Red ERH (CPU Unit Error) Red ER1 * (Internal error status) Yellow ER2 * (Internal error status) Yellow ER3 * (Internal error status) Yellow ER4 * (Internal error status) Yellow SSI Yellow MLK (MECHATROLINK-II) Yellow Status Lit Not lit Lit Not lit Lit Not lit Content Motion Control Unit is operating normally. Not recognized by PLC, or MC Unit is broken. An error has occurred in the MC Unit. MC Unit is operating normally. An error has occurred in the CPU Unit. CPU Unit is operating normally. Lit An internal error has occurred. Not lit MC Unit is operating normally. Lit An internal error has occurred. Not lit MC Unit is operating normally. Lit An internal error has occurred. Not lit MC Unit is operating normally. Lit An internal error has occurred. Not lit MC Unit is operating normally. Lit Not lit Lit Not lit Not used. Not used. MLK is operating normally. An error has occurred in the MLK. * When the ERC or ERH indicator is lit, these four indicators show the internal error status. 8 CJ1W-MCH71 Functions Supported by CJ1W-MCH71 Units Version 2.1 or Later Unit version Unit Ver. 2.0 Unit Ver. 2.1 Unit Ver. 3.0 Unit Ver. 3.1 1.05 1.06 1.07 1.09 Internal system software version MC Unit model Functions CJ1W-MCH71 Reading unit version function Not supported Supported Supported Supported Expanded allocations in Custom I/O Area Not supported Supported Supported Supported Data tracing Not supported Not supported Supported *1 Supported *1 Debugging Not supported Not supported Supported *1 Supported *1 Zones Not supported Not supported Supported *1 Supported *1 Signed master axis MOVELINK command Not supported Not supported Supported Supported Indirect writing of position data Not supported Not supported Supported Supported Setting the number of parallel branches for each task Not supported Not supported Supported *1 Supported *1 Present position preset to establish origin Not supported Not supported Supported *1 Supported *1 Status of program start bit Not supported Not supported Supported Supported Servo OFF for deceleration stop signal Not supported Not supported Supported *1 Supported *1 Re-execution of WAIT command Not supported Not supported Supported Supported Main power status Not supported Not supported Supported Supported Servo Driver status Not supported Not supported Supported Supported Increased precision of CAMBOX command Not supported Not supported Supported Supported Improved restarting after restoration --- --- --- Supported Expanded bank switching for interpolation acceleration/deceleration times --- --- --- Supported Internal overrides --- --- --- Supported Connecting to SMARTSTEP Junior Servo Drivers --- --- --- Supported *2 Improved backup and restore functions --- --- --- Supported *2 Program and CAM data read protection --- --- --- Supported *2 Applicable Support Tool CX-Motion-MCH • Functions for unit version 3.0 indicated by “*1” can be used with CX-Motion-MCH version 2.0 or higher. • Functions for unit version 3.1 indicated by “*2” can be used with CX-Motion-MCH version 2.1 or higher. CJ1W-MCH71 Unit Versions and Manufacturing Dates/Lot Numbers Manufacturing dates Classification CPU Bus Unit Type MC Unit Model CJ1W-MCH71 Up to early November 2004 Unit version 2.0 From middle of November 2004 Unit version 2.1 (Lot No.: 041117 and later) From early June 2005 Unit version 3.0 (Lot No.: 050615 and later) From early July 2007 Unit version 3.1 (Lot No.: 070615 and later) 9 CJ1W-MCH71 Dimensions (Unit: mm) CJ1W-MCH71 MCH71 RUN ERC ER1 ER2 ERH ER3 ER4 MLK SSI UNIT No. MLK 90 SSI I/O 79.8 65 70.9 Related Manual English Cat. No. Japanese Cat. No. Model Name W435 SBCE-327 CS1W-MCH71/CJ1W-MCH71 CS1W-MCH71/CJ1W-MCH71 CS/CJ-series MECHATROLINK-II-compatible Motion Controll Unit User's Manual W448 SBCE-336 CXONE-ALC-V/ CXONE-ALD-V CX-Motion-NCH Operation Manual --- SBCE-046 CS1W-MCH71/CJ1W-MCH71 CS1W-MCH71/CJ1W-MCH71 Motion Controll Unit (ONNUC W-series) Technical Guide 10 Read and Understand This Catalog Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you have any questions or comments. Warranty and Limitations of Liability WARRANTY OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED. LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR. Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use. The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this catalog. Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations. Systems, machines, and equipment that could present a risk to life or property. Please know and observe all prohibitions of use applicable to the products. NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof. Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products. DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown. PERFORMANCE DATA Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. ERRORS AND OMISSIONS The information in this document has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions. 2011.12 In the interest of product improvement, specifications are subject to change without notice. OMRON Corporation Industrial Automation Company http://www.ia.omron.com/ (c)Copyright OMRON Corporation 2011 All Right Reserved.