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CJ-series Position Control Units with EtherCAT interface
[email protected][email protected]
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
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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 ([email protected])
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.
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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.
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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.
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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.
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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 [email protected]
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
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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
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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
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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 [email protected] (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 [email protected] (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.
[email protected] (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 [email protected]
(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 [email protected]/ [email protected] (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
[email protected][email protected]
Functions available when connected with OMRON encoder input terminal [email protected] are as shown below.
They are available with [email protected], 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
[email protected][email protected]
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
[email protected][email protected]
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
[email protected][email protected]
Function Support According to Unit Versions
[email protected]
: 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”.
[email protected]
: 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
[email protected][email protected]
Function Support According to G5-series Servo Drive Versions
As indicated in the table below, functions supported by [email protected] 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 [email protected] 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 [email protected], 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
[email protected][email protected]
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
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equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty,
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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.
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