CJ-series Position Control Units with EtherCAT interface CJ1W-NC@81/@82 CSM_CJ1W-NC_81_E_7_3 Preeminent control performance and easy operation feature of EtherCAT improve the production efficiency. The EtherCAT communications with 100Mbps baud rate enables fast and accurate position control. A wide range of position control functions are available with this position control unit. CJ1W-NC881 CJ1W-NC882 Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products. Windows is either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Other company names and product names in this document are the trademarks or registered trademarks of their respective companies. Features • • • • • • • • • • Fast positioning operation: taking from 0.15 to 0.4ms (min.) to start servo operation from PLC start command. Support for Servomotors with Absolute Encoders Monitor the Deviation between Axes during Linear Interpolation A Wide Range of Positioning Operations Comes with Memory Operation function. Common control interface with pulse-train type position control unit (CJ1W-NC@@4). Fast communication of EtherCAT (250µs min. communications cycle). In addition to servo control, inverters, vision sensors, and other I/O devices that support EtherCAT can be connected. Support for Servomotors Speed Control and Torque limit outputs. A wide variety of Electronic Cam Synchronization applications (CJ1W-NC@82) System Configuration Used to set and monitor data. • Editing parameters and data • Monitoring status • Data tracing • Managing files Etc. Computer CX-Programmer Power Supply Unit Position Control Unit (CJ1W-NC882) CJ-series CPU Unit USB connection EtherCAT G5-series Servo Drives XW2B-20G4 External Inputs Forward limit input Reverse limit input Origin input Origin proximity input Emergency stop input Interrupt input 24-V power supply for interface Inverters Other slaves G5-series Servomotors Note: The connectable EtherCAT slaves for this Position Control Unit are limited. With the EtherCAT slaves which are not supported, it is impossible to configure and establish the EtherCAT communication of this Position Control Unit. Contact us for information of EtherCAT slaves which are connectable with this Position Control Unit. 1 CJ1W-NC@81/@82 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. Position Control Units with EtherCAT interface Unit type Specifications Product Name No. of axes Control output interface No. of unit numbers allocated Current consumption (A) 5V 2 axes Control commands executed by EtherCAT communications. Positioning functions: Memory operation, Direct operation by ladder programming Position Control CJ1 CPU Units with Bus Units EtherCAT interface Control commands executed by EtherCAT communications. Positioning functions: Memory operation, Direct operation by ladder programming I/O communications: 64 nodes 4 axes 8 axes Model CJ1W-NC281 1 0.46 CJ1W-NC481 − CJ1W-NC881 16 axes CJ1W-NCF81 4 axes CJ1W-NC482 8 axes Standards 24 V 1 0.46 − UC1, CE 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. 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 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 Rugged type Cable with Connectors on Both Ends (RJ45/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable Rugged type Cable with Connectors on Both Ends (M12 Straight/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable Rugged type Cable with Connectors on Both Ends (M12 Right-angle/RJ45) Wire Gauge and Number of Pairs: AWG22, 2-pair Cable Appearance Recommended manufacturer OMRON OMRON OMRON OMRON Cable length(m) Model 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 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 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 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. 2 CJ1W-NC@81/@82 Cables / Connectors Wire Gauge and Number of Pairs: AWG24, 4-pair Cable Item Appearance Cables RJ45 Connectors Recommended manufacturer Model − Hitachi Metals, Ltd. NETSTAR-C5E SAB 0.5✕4P * − Kuramo Electric Co. KETH-SB * − SWCC Showa Cable Systems Co. FAE-5004 * − 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 Cables RJ45 Assembly Connector Recommended manufacturer Model − Kuramo Electric Co. KETH-PSB-OMR * − JMACS Japan Co., Ltd. PNET/B * 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. Support Software Specifications Product name 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) / Windows 10 (32-bit/64-bit version) CX-One Version 4.@ includes CX-Programmer Ver.9.@. For details, refer to the CX-One catalog (Cat. No. R134). Number of licenses Media 1 license * DVD Model CXONE-AL01D-V4 Standards − * Multi licenses (3, 10, 30, or 50 licenses) and DVD media without licenses are also available for the CX-One. 3 CJ1W-NC@81/@82 Interpreting Model Numbers You can identify the number of axes and output pattern from the model number. CJ1W-NC 2 8 1 (1) No (2) (3) (4) Item (1) (2) (3) (4) Symbol Specifications CJ-series Position Control Unit Number of axes Output pattern 2 2 axes 4 4 axes 8 8 axes F 16 axes 8 Development number EtherCAT 1 Servo control only 2 Servo control + I/O communications Mountable Racks NJ system Model CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82 CPU Rack CJ system (CJ1, CJ2) Expansion Rack Not Supported CPU Rack Expansion Backplane 16 Units max. (10 per Rack) CP1H system CP1H PLC Not Supported NSJ system NSJ Controller Not Supported Expansion Backplane 10 Units 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. 4 CJ1W-NC@81/@82 Characteristics Models Item Servo control only Servo control + I/O communications CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 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 Controllable Servo Drives *1 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 --- 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 2 axes Maximum command output speed 104 Mpps *4 Control units 4 axes 8 axes 16 axes 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 Single axis control Interpolated control Memory operation 4 axes 8 axes 16 axes 16 axes Memory operation or direct operation Position control 2 axes 4 axes 8 axes 16 axes 4 axes 8 axes Speed control 2 axes 4 axes 8 axes 16 axes 4 axes 8 axes 16 axes Linear interpolation 2 axes max. 4 axes max. 4 axes max. 4 axes max. 4 axes max. 4 axes max. 4 axes max. Circular interpolation 2 axes 2 axes 2 axes 2 axes 2 axes 2 axes 2 axes 3 axes 3 axes 3 axes 4 4 *6 4 *6 Helical interpolation *3 --- --- --- --- Maximum number of tasks 2 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.) 4 4 *6 4 *6 Position command values Data -2,147,483,648 to 2,147,483,647 command units *7 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 Number of position command values 500/task Acceleration Data times Number of acceleration times 0 to 250,000 ms Deceleration Data times Number of deceleration times 0 to 250,000 ms Auxiliary functions 500/task 500/task 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 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. 5 CJ1W-NC@81/@82 Models Item Servo control only Servo control + I/O communications CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82 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 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 10 250 µs axes 1.0 ms when using 11 to 16 axes 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 0.15 to 0.4 ms when using 1 to 4 axes 0.15 to 0.4 ms 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 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 3.25 to 4.25 ms 6.5 to 8.5 ms 7.0 to 9.0 ms 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 Control cycle 0.5 ms Communications cycle 0.5 ms when using 1 to 2 axes 1 ms when using 3 to 4 axes Control performance Starting time *9 Control I/O Servo Drive interface 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 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 *1. *2. *3. *4. *5. *6. *7. *8. *9. A controllable Servo Drive is Servo Drive for which you can use the position control functions of the Position Control Unit. A controllable encoder input terminal is a slave for which you can use the encoder axis function of the Position Control Unit. Available with unit version 1.5 or later. This is the maximum speed command when converted to pulses. Command units can be set for each axis according to the electronic gear ratio and unit multiplier. Up to four axes can be controlled by each task. Setting is possible between -2,147,483,648 and 2,147,483,647 pulses. The command can be set to up to 104,857,600 pps when converted to pulses. 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. 6 CJ1W-NC@81/@82 EtherCAT Communications Specifications Characteristics Item Servo control only CJ1W-NC281 CJ1W-NC481 Servo control + I/O communications CJ1W-NC881 CJ1W-NCF81 CJ1W-NC482 CJ1W-NC882 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 CJ1W-NCF82 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. 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. Number of Servo Drive axes Size used by Servo Drive axes (bytes) * 0 axis 1 axis 2 axes 4 axes 8 axes 16 axes 0 29 58 116 232 464 Remaining PDO communications memory size (bytes) IN OUT 640 611 582 524 408 176 640 611 582 524 408 176 Number of slaves that can be connected according to slave I/O size (guidelines) 8 bytes of I/O 16 bytes of I/O 32 bytes of I/O 64 bytes of I/O (4 input and 4 (8 input and 8 (16 input and 16 (32 input and 32 output bytes) output bytes) output bytes) output bytes) 64 64 40 20 64 64 38 19 64 64 36 18 64 64 32 16 64 51 25 12 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. 7 CJ1W-NC@81/@82 Functional Specifications The following functions are supported when the Position Control Unit is connected to an EtherCAT-compatible OMNUC G5-series Servo Drive. Function Absolute movements Relative movements Speed control Single axis Interrupt feeding control Control functions Multi-axis control Memory operation 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 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. 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). The target positions, speeds, and operation patterns can be set in advance in the Position Control Unit to Automatic continuous automatically perform a series of operations. operation Continuous positioning and speed changes are also possible. 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. 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. 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. Synchronous Data Link Command unit setting Acceleration/ deceleration control Auxiliary control functions 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. Rotation axis control Sequence functions Manual operation Description Positioning is performed by specifying the absolute or relative target position and target speed directly from the ladder program. Automatic acceleration/ deceleration control You can set the unit of control for each axis according to the machine. 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/ You can change the rate of acceleration/deceleration during acceleration/deceleration. deceleration rates Switching acceleration/ You can select one of three methods to connect speeds between different operation patterns during deceleration points 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). Software limits Monitoring Monitoring position/ functions speed deviations Monitoring deviation between axes 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. 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. The deviation between axes is also monitored during linear interpolation. You can stop axis operation if the deviation is too large. 8 CJ1W-NC@81/@82 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. Function Manual operation Auxiliary control functions Description Present position preset The present position can be changed to a specified value to define the origin. 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. 9 CJ1W-NC@81/@82 External Interface Part Names CJ1W-NC281/-NC481/-NC881/-NCF81/-NC482/-NC882/-NCF82 Indicators and Display Show the operating status of the Position Control Unit. Unit Number Switch Sets the unit number of the Position Control Unit. EtherCAT Communications Connector Connects to the EtherCAT Communications Cable. Indicators Show the EtherCAT communications status. Indicators Indicator Display color RUN Green ERC Red ERH Red Status ON Normal operation. OFF The power supply is OFF, a hardware error has occurred, or the PLC has detected a Position Control Unit error. ON An error has occurred. OFF Other than the above ON There is an error in the PLC. OFF Other than the above OFF ECAT RUN Green Description Blinking Initialized state Pre-Operational state Single flash Safe-Operational state ON Operational state OFF No error Blinking Communications setting error Single flash Synchronization error or communications data error ECAT ERR Red Double flash Flickering ON ECAT L/A Green Application WDT timeout Boot error PDI WDT timeout OFF Link not established in physical layer. ON Link established in physical layer. Flickering In operation after establishing link. 10 CJ1W-NC@81/@82 EtherCAT Communications Connector This connector is used to connect the EtherCAT twisted-pair cable. Connector Specifications Specification Description Electrical characteristics Conforms to IEEE 802.3 standards. Connector structure RJ45 8-pin modular connector (Conforms to ISO 8877.) Pin Assignments Pin No. Signal name Abbreviation 1 Transmission data + TD+ Signal direction Output 2 Transmission data - TD- Output 3 Reception data + RD+ Input 4 Not used. --- --- 5 Not used. --- --- 6 Reception data - RD- Input 7 Not used. --- --- 8 Not used. --- --- Hood Frame ground FG --- EtherCAT Communications Cables Use a category 5 or higher cable with double, aluminum tape and braided shielding. Note: The maximum distance between any two nodes is 100 m. Some cables, however, are not rated for 100 m. Generally speaking, the transmission performance of stranded wires is worse than that of solid wire. Cables with stranded wires generally are not rated for 100 m. Connector (Modular Plug) Specifications Use a category 5 or higher, shielded connector. Note: When selecting a connector, make sure that it is suitable for the cable that you are using. The following items must be confirmed: conductor size, whether connector is solid or stranded wire, whether there are 2 wire pairs or 4, the outside diameter, etc. Unit Versions and Programming Unit Versions : Exist, ---: Does not exist Unit Position Control Units with EtherCAT Compatible CX-Programmer version Model Unit Versions Ver. 1.0 Ver. 1.1 Ver. 1.3 Ver. 1.4 Ver. 1.5 CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 --- CJ1W-NC482 --- CJ1W-NC882 --- CJ1W-NCF82 --- --- Version 9.11 or higher Version 9.12 or higher Version 9.32 or higher Version 9.52 or higher * Version 9.60 or higher * Check CX-One Information. The Common Components must be 2014.09 (September 2014) or later. 11 CJ1W-NC@81/@82 Function Support According to Unit Versions CJ1W-NC@81 : Supported, ---: Not supported Function Unit Versions Ver. 1.0 Ver. 1.1 Ver. 1.3 Ver. 1.4 Ver. 1.5 Status Word Expanded Monitor Type --- I/O communications as type of slave that can be connected --- Enabling/disabling registered slaves --- Clearing input data to zero when there is a communications error with a remote I/ O slave --- Electronic gear ratio setting range expansion --- --- Origin position latch --- --- Ad hoc change of torque limit data using Allocated Memory Areas *1 --- --- Ad hoc change of torque limit data/torque feedforward data using the Synchronous Data Link *1 *2 --- --- --- --- --- Synchronous Data Link (Electric Shaft function) *1 *2 --- --- --- --- --- Synchronous Data Link (Synchronous feeding velocity function) *1 *2 --- --- --- --- --- Synchronous Data Link (Synchronous feeding torque function) *1 *2 --- --- --- --- --- Absolute Encoder Origin Establishment Timing Setting --- --- --- Electronic cam operation --- --- --- --- --- Encoder axis --- --- --- --- --- Helical interpolation --- --- --- --- --- *1. Whether or not this function is supported depends on the version of the G5-series Servo Drive. For details, refer to “Function Support According to G5-series Servo Drive Versions”. *2. Whether or not this function is supported depends on the version of the G5-series Servo Drive. For details, refer to “Function Support According to CPU Unit Versions”. CJ1W-NC@82 : Supported, ---: Not supported Function Unit Versions Ver. 1.0 Ver. 1.1 Ver. 1.3 Ver. 1.4 Ver. 1.5 Status Word Expanded Monitor Type --- I/O communications as type of slave that can be connected --- Enabling/disabling registered slaves --- Clearing input data to zero when there is a communications error with a remote I/ O slave --- Electronic gear ratio setting range expansion --- --- Origin position latch --- --- Ad hoc change of torque limit data using Allocated Memory Areas *1 --- --- Ad hoc change of torque limit data/torque feedforward data using the Synchronous Data Link *1 *2 --- --- Synchronous Data Link (Electric Shaft function) *1 *2 --- --- Synchronous Data Link (Synchronous feeding velocity function) *1 *2 --- --- Synchronous Data Link (Synchronous feeding torque function) *1 *2 --- --- Absolute Encoder Origin Establishment Timing Setting --- --- --- Electronic cam operation --- --- --- --- Encoder axis --- --- --- --- Helical interpolation --- --- --- --- *1. Whether or not this function is supported depends on the version of the G5-series Servo Drive. For details, refer to “Function Support According to G5-series Servo Drive Versions”. *2. Whether or not this function is supported depends on the version of the G5-series Servo Drive. For details, refer to “Function Support According to CPU Unit Versions”. 12 CJ1W-NC@81/@82 Function Support According to G5-series Servo Drive Versions As indicated in the table below, functions supported by CJ1W-NC@82 Position Control Units (unit version 1.3 or later) differ depending on the version of the G5 series servo drive used in conjunction with the Position Control Unit: : Supported, ---: Not supported Drive version Function Ver. 1.@ Ver. 2.0 or later Synchronous Feeding Velocity function --- Synchronous Feeding Torque function --- Ad hoc change of torque limit data by use of Allocated Memory Areas --- Ad hoc change of torque limit data / torque feedforward data by use of the Synchronous Data Link --- Synchronous Data Link function (Synchronous feeding functions) Synchronous Feeding Position (Electric Shaft) function Function Support According to CPU Unit Versions As indicated in the table below, functions supported by CJ1W-NC@82 Position Control Units (unit version 1.3 or later) differ depending on the version of the CPU unit used in conjunction with the Position Control Unit: : Supported, Δ: Limited, ---: Not supported Ver. 1.3 or earlier Ver. 1.4 or later CJ1-H/CJ1/ CJ1M/CJ2M Synchronous Feeding Position (Electric Shaft) function * Δ* Δ* Electronic cam operation Δ* Δ* Synchronous Feeding Velocity function --- --- Synchronous Torque Command function --- --- --- --- Function Synchronous Data Link function (Synchronous feeding functions) CJ2H Ad hoc change of torque limit data / torque feedforward data by use of the Synchronous Data Link * Available with CJ1W-NC@82, unit version 1.5 or later. Note that Synchronous Data Link output cannot be set as an auxiliary axis. If it is set, the value of auxiliary axis will always be 0. 13 CJ1W-NC@81/@82 Function List of Function Block Library (FBL) Omron FB (Function Block Library) 1 Move Absolute 14 Read Status 2 Unlimited Move Absolute 15 Read Parameter 3 Move Relative 16 Read Error 4 Speed Control 17 Read Present Position 5 Origin Search 18 Present Position Latch 6 Origin Return 19 Write Parameter 7 Deceleration Stop 20 Save Parameter 8 Operation Command 21 Teaching 9 Error Reset 22 Present Position Preset 10 Deviation Counter Reset 23 Override Setting 11 Run Program 24 Torque Limits 12 Interrupt Feeding 25 Absolute Encoder Setup 13 Jogging / Inching 26 Absolute Encoder's Origin Position Offset Setting Dimensions (Unit: mm) 66.45 65 31 2.7 90 2.7 CJ1W-NC281/-NC481/-NC881/-NCF81/-NC482/-NC882/-NCF82 Related Manuals Manual Cat. No. Model CJ-series Position Control Unit Operation Manual W487 CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82 CX-Programmer Operation Manual W446 CXONE-AL@@C-V@ /-AL@@D-V@ Application Description Information on CJ1W-NC281/-NC481/ -NC881/-NCF81/-NC482/ -NC882/-F82 Position Control Units Describes the setting and application procedures for the Position Control Units. Support Software for Windows computers CX-Programmer operating procedure Describes operating procedures for the CX-Programmer. 14 Terms and Conditions Agreement 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. Warranties. (a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses 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. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty. See http://www.omron.com/global/ or contact your Omron representative for published information. Limitation on Liability; Etc. OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted. Suitability of Use. Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. Programmable Products. Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. Performance Data. Data presented in Omron Company websites, catalogs and other materials 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 user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability. 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 part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product. Errors and Omissions. Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. 2016.5 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 2016 All Right Reserved.