SYSMAC CS Series Position Control Units [email protected]@3 CSM_CS1W-NC_DS_E_6_3 High-speed, High-precision positioning with 1, 2, or 4 axes • Versatile functions and superb performance enable the construction of compact, high-performance machines. • With its ultra-compact size of 31 × 90 mm (W × H), this highly space-efficient Position Control Unit (PCU) enables up to 4 axes of motor control. CS1W-NC113 CS1W-NC213 CS1W-NC413 Features • Two types to choose from: open collector output and line driver. Because both open collector output and line driver types feature 1-, 2-, and 4axis models, the most appropriate model can be selected for the application at hand. • Positioning START occurs within 2 ms (maximum speed) after receiving a command from the Programmable Controller. (Refer to the Operation Manual for conditions.) • High-speed data transfer is possible using INTELLIGENT I/O WRITE (IOWR) and INTELLIGENT I/O READ (IORD) instructions. • Fine control from low to high speed (500 kpps max.) is possible in 1-pps units. • Positioning can be done from memory, by writing an operating pattern into the PCU memory in advance. Three position patterns − Terminating, Automatic, and Continuous − can be set with completion codes to respond to a wide range of operations. Positioning of up to 100 patterns (sequential data) per one axis can be possible. • Positioning (direct operation) can be done by direct PLC ladder commands for position data, speed data, and acceleration data. This simplifies control in situations when the target position and speed cannot be decided until immediately before operation begins, or when the target position and speed change due to other circumstances. The target position and speed can also be changed during operation. • Interrupt feeding moves the axis a specified amount, then stops it, in accordance with an interrupt input. High-speed (0.1 ms max.) processing of the interrupt input signal ensures high-precision interrupt positioning. This helps to maximize feeder precision. • Easy-to-Use positioning can be possible with versatile functions such as Teaching, Override, Backlash compensation, Zones, Forced interrupt and Acceleration/Deceleration curve. System Configuration Software CX-Programmer CX-Position OMNUC G/G5-series Servo Drive Cable [email protected]@@J-B25 SYSMAC CS1 series Position Control Unit CS1W-NC213 Position Control Unit Cable [email protected]@@J-A7 OMNUC G/G5-series AC Servo Drive OMNUC G/G5-series AC Servo Drive OMNUC G/G5-series AC Servo Motor OMNUC G/G5-series AC Servo Motor 24-V DC power supply for External Inputs Servo Relay Unit XW2B-40J6-2B 1 [email protected]@3 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 Unit Specifications Unit type Name Control method/Control output interface Position control unit CS1 Special I/O Units Number of control axes 1 axis Open-loop control by pulse train output/ Open-collector output 2 axes 4 axes 1 axis Open-loop control by pulse train output/ Line-driver output 2 axes 4 axes No. of unit numbers allocated 1 2 1 2 Current consumption (A) 5V system Model 26 V system 0.25 − CS1W-NC113 0.25 − CS1W-NC213 0.36 − CS1W-NC413 0.25 − CS1W-NC133 0.25 − CS1W-NC233 0.36 − CS1W-NC433 Standards U, C, N, L, CE Software Name Specifications Number of licenses 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 (32CX-One FA bit/64-bit version) / Windows 7 (32-bit/64-bit version) / Windows 8 (32-bit/641 license * Integrated bit version) / Windows 8.1 (32-bit/64-bit version) / Windows 10 (32-bit/64-bit DVD Tool Package version) Ver. 4 Model Standards CXONE-AL01D-V4 − Model Standards CX-One Ver.4. @ includes CX-Position Ver.2. @. For details, refer to the CXOne catalog (Cat. No.R134). * Multi licenses (3, 10, 30, or 50 licenses) and DVD media without licenses are also available for the CX-One. Servo Relay Units/Cables Name Servo Relay Unit Applicable units Applicable drives Number of control axes Cable length For CS1W-NC113/133 (No communication supported) − 1 axis − XW2B-20J6-1B For CS1W-NC213/233/413/433 (No communication supported) − 2 axes − XW2B-40J6-2B For CS1W-NC113/133/213/233/413/433 (Communication supported) − 2 axes − XW2B-40J6-4A OMNUC G/G5/W Series, SMARTSTEP 2 For CS1W-NC113 0.5m XW2Z-050J-A6 1m XW2Z-100J-A6 0.5m XW2Z-050J-A8 1m XW2Z-100J-A8 0.5m XW2Z-050J-A7 1m XW2Z-100J-A7 0.5m XW2Z-050J-A9 1m XW2Z-100J-A9 0.5m XW2Z-050J-A10 1m XW2Z-100J-A10 0.5m XW2Z-050J-A12 1m XW2Z-100J-A12 0.5m XW2Z-050J-A11 1m XW2Z-100J-A11 0.5m XW2Z-050J-A13 1m XW2Z-100J-A13 Applicable Servo Driver Cable Length 1 axis SMARTSTEP Junior/A Series Open-collector output OMNUC G/G5/W Series, SMARTSTEP 2 For CS1W-NC213/413 Position Control Unit Cables for Servo Relay Unit 2 axes SMARTSTEP Junior/A Series OMNUC G/G5/W Series, SMARTSTEP 2 For CS1W-NC133 1 axis SMARTSTEP Junior/A Series Line-driver output OMNUC G/G5/W Series, SMARTSTEP 2 For CS1W-NC233/413 2 axes SMARTSTEP Junior/A Series − − Communications Cables for Serial Communications Boards/Units Name Communications Cables for Serial Communications Boards/Units Specifications RS-422A Communications cable (Servo Relay Unit XW2B-40J6-4A required *) Applicable Serial Communications Units/Boards CS1W-SCB41-V1 CS1W-SCU31-V1 OMNUC W Series, SMARTSTEP A Series Model 1m XW2Z-100J-C1 2m XW2Z-200J-C1 * Communication Supported. 2 [email protected]@3 Accessories The Position Control Unit includes the 48-pin solder-type connectors (socket: Fujitsu FCN-361J048-AU, cover: Fujitsu FCN-360C048-D). Mountable Racks CS1 System Model CS1D System CPU Rack Expansion Backplane Long-distance Expansion Racks CPU Rack Expansion Backplane Yes Yes Yes Yes Yes CS1W-NC113/133/213/233/413/433 Specifications Basic Specifications Model Item CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433 5 VDC (for the PCU itself) Power supply voltage 24 VDC (external power supply) 5 VDC (external power supply; line driver output only) 4.75 to 5.25 VDC (for the PCU itself) Allowable power supply voltage range 21.6 to 26.4 VDC (external power supply) 4.75 to 5.25 VDC (external power supply; line driver output only) Internal current consumption 250 mA max. at 5 VDC 250 mA max. at 5 VDC 360 mA max. at 5 VDC Current consumption of external power supply NC113: 30 mA max. at 24 VDC NC133: 10 mA max. at 24 VDC NC133: 60 mA max. at 5 VDC NC213: 50 mA max. at 24 VDC NC233: 20 mA max. at 24 VDC NC233: 120 mA max. at 5 VDC NC413: 90 mA max. at 24 VDC NC433: 30 mA max. at 24 VDC NC433: 220 mA max. at 5 VDC External dimensions 130 (H) × 35 (W) × 101 (D) (all models) Weight 250 g max. 250 g max. 300 g max. Safety standards UL, CSA, EC (EMC Directive) Note: Specifications not listed above conform to CS Series general specifications. Performance Specifications Model Item Applicable PLC models 5 words Slots 1 slot Control system Open-loop control by pulse train output Number of control axes 1 axis Acceleration and deceleration times 20 words 2 axes 4 axes Pulse Positioning operations Speeds 10 words Pulse-train input-type Servo Drive or stepping motor driver NC113/213/413 models have open collector output. NC133/233/433 models have line driver output. Control unit Positions CS1W-NC413/433 CS1 Special I/O Unit Words Controlled driver Control CS1W-NC213/233 CS-series PLCs Unit type I/O requirements CS1W-NC113/133 Two types: memory operation and direct operation Independent 1 axis 2 independent axes 4 independent axes Linear interpolation None 2 axes max. 4 axes max. Speed control 1 axis 2 independent axes 4 independent axes Interrupt feeding 1 axis 2 independent axes 4 independent axes Range −1,073,741,823 to 1,073,741,823 pulses (See note.) Data items 100/axis Range 1 pps to 500 Kpps Data items 100/axis Range 0 to 250 s, until maximum speed is reached. Data items 9/axis for acceleration and deceleration each 3 [email protected]@3 Item CS1W-NC213/233 CS1W-NC413/433 Origin search Origin proximity input signal: selectable (absent, N.O. or N.C. contact). Origin input signal: selectable (N.O. or N.C. contact) Origin compensation: −1,073,741,823 to 1,073,741,823 pulses Origin search speed: High-speed or proximity-speed can be set. Origin detection method: May be set to stop upon origin input signal after proximity input signal has turned ON, to stop upon origin input signal after proximity input signal has turned OFF, to stop upon origin input signal without using proximity input signal, or to stop upon origin input signal after limit input signal has turned OFF. N.O. = Normally open N.C. = Normally closed Jogging Jogging can be executed at a specified speed. Dwell times 19/axis can be set from 0 to 9.99 s (unit: 0.01 s). Acceleration/ deceleration curves Trapezoidal or S-curve (Can be set separately for each axis.) Zones Zone Flag turns ON when present position is within a specified zone. Three zones can be set for each axis. Software limits Can be set within a range of −1,073,741,823 to 1,073,741,823 pulses. Backlash compensation 0 to 9,999 pulses. Compensation speed can also be set. Teaching With a command from the PLC, the present position can be taken as the position data. Deceleration stop The STOP command causes positioning to decelerate to a stop according to the specified deceleration time. Emergency stop Pulse outputs are stopped by an external emergency stop command. Present position preset The PRESENT POSITION PRESET command can be used to change the present position to a specified value. Override When the override enabling command is executed during positioning, the target speed is changed by applying the override coefficient. Possible to set to a value from 1 to 999% (by an increment of 1%) Data saving 1) Saving to flash memory. (Can be written 100,000 times.) 2) Reading from PLC area by data reading instruction. 3) Reading by Support Tool and saving to personal computer hard disk or floppy disk. Inputs Prepare the following inputs for each axis: CW and CCW limit input signals, origin proximity input signal, origin input signal, emergency stop input signal, positioning completed signal, interrupt input signal Outputs Prepare the following outputs for each axis: Pulse outputs CW/CCW pulses, pulse outputs and direction outputs can be switched. Either error counter reset or origin-adjustment command outputs can be selected depending on the mode. Functions and settings Functions and settings Model CS1W-NC113/133 External I/O Pulse output distribution period 1-axis operation: 4 ms Linear interpolation: 8 ms Response time Refer to Operation Manual Appendix A Performance Characteristics. Self-diagnostic function Flash memory check, memory loss check, CPU bus check Error detection function Overtravel, CPU error, software limit over, emergency stop Note: 1. The additional functions supported by Unit version 2.0 can be used only when the PCU is installed with a CS1-H CPU Unit (either CPU Unit Ver. 2.0 or Pre-Ver. 2.0 CPU Unit). These functions cannot be used if the PCU is installed with a CS1 CPU Unit (with -V1 suffix). For details on Unit versions, refer to Unit Versions of CS-series Position Control Units on Operation Manual page vi. 2. When performing linear interpolation, the distances that can be moved will vary. 4 [email protected]@3 External Interface [email protected] [email protected] [email protected] LED indicators Show the PCU's operating status. Unit number setting switch Sets the unit number for the PCU. X axis connector X/Y axis connector X/Y axis connector Connect to stepping motor driver or Servo Drive. (Controls 2 axes). Z/U axis connector Connect to stepping motor driver or Servo Drive. (Controls 2 axes). LED Indicators Name RUN Color Green ERC Red ERH Red SENS DATA X Y Z U Yellow Yellow Orange Orange Orange Orange Status Explanation Lit Lit during normal operation. Not lit Hardware error, or PLC notified of PCU error. Lit An error has occurred. Not lit No error has occurred. Lit An error has occurred IN the CPU Unit. Not lit No error has occurred at the CPU Unit. Lit Either a CW/CCW limit signal or an emergency stop input signal is being input. At this time the LED indicator for the relevant axis (X to U) will flash. Flashing Either a parameter loss, a data loss, or an operating data area designation error has occurred. Not lit None of the above has occurred. Lit Data is incorrect (e.g., the parameters or positions transferred are out of the permissible range). At this time the LED indicator for the relevant axis (X to U) will flash. Flashing The check of all data (parameters, positions, etc.) following power up shows that data is lost or corrupted. Not lit None of the above has occurred. Lit Pulses are being output to the X axis (either forward or reverse). Flashing An error has occurred, such as incorrect cable type for the X axis or faulty data. Not lit None of the above has occurred. Lit Pulses are being output to the Y axis (either forward or reverse). Flashing An error has occurred, such as incorrect cable type for the Y axis or faulty data. Not lit None of the above has occurred. Lit Pulses are being output to the Z axis (either forward or reverse). Flashing An error has occurred, such as incorrect cable type for the Z axis or faulty data. Not lit None of the above has occurred. Lit Pulses are being output to the U axis (either forward or reverse). Flashing An error has occurred, such as incorrect cable type for the U axis or faulty data. Not lit None of the above has occurred. Note: 1. For the CS1W-NC113/NC133, this applies only to the X axis; for the CS1W-NC213/NC233, it applies only to the X and Y axes. 2. When not all of the axes are used for the CS1W-NC213/NC233/ NC413/NC433, either connect the CW/CCW limit inputs for the unused axes to the input power supply and turn them ON or set the contact logic to N.O. Connect the emergency stop to the input common and turn it ON. If it is not connected, the ERC indicator will light. Operation will be normal, however, for all axes that are used. 5 [email protected]@3 Functions Supported by Each Unit Version of Position Control Unit Unit Version Pre-Ver. 2.0 Ver. 2.0 Internal system software version 1.0 CS-series Position Control Units CS1W-NC113/133/213/233/413/433 Functions 2.0 Ver. 2.1 Ver. 2.2 Ver. 2.3 2.1 2.2 2.3 Changing the acceleration for a multiple start during relative movement or absolute movement in direct operation Not supported Supported Supported Supported Supported Changing acceleration/ deceleration time during jog operation Not supported Supported Supported Supported Supported Setting acceleration/ deceleration time for axis parameters until the target speed is reached Not supported Supported Supported Supported Supported Easy backup function Not supported Supported Supported Supported Supported Setting number of unused axes Not supported Not supported Supported Supported Supported Setting CW/CCW pulse output direction Not supported Not supported Not supported Supported Supported Setting origin search pattern Not supported Not supported Not supported Supported Supported Position data setting when origin signal stops Not supported Not supported Not supported Supported Supported Setting jog operation Not supported Not supported Not supported Not supported Supported Setting deviation counter reset output signal Not supported Not supported Not supported Not supported Supported Checking parameters and data at startup Not supported Not supported Not supported Not supported Supported CX-Position Ver. 1.0 (See note 2.) CX-Position Ver. 2.0 or later CX-Position Ver. 1.0 (See note 2.) CX-Position Ver. 2.0 (See note 2.) CX-Position Ver. 2.1 or later CX-Position Ver. 1.0 (See note 2.) CX-Position Ver. 2.0 (See note 2.) CX-Position Ver. 2.1 (See note 2.) CX-Position Ver. 2.2 or later Support Software CX-Position Ver. 1.0 or later CX-Position Ver. 1.0 (See note 2.) CX-Position Ver. 2.0 or later Note: 1. The Position Control Unit must be installed with CS1-H CPU Unit to use the above functions supported for Position Control Unit Ver. 2.0. These functions cannot be used if the Position Control Unit is installed with a CS1 CPU Unit (with -V1 suffix). 2. With CX-Position Ver. 1.0, new functions added to Position Control Units Ver. 2.0 or higher cannot be used. 3. Please refer to the Operation Manual Page vii for the Unit Version. 6 [email protected]@3 Connecting Connectors Using Servo Relay Units Wiring requires the dedicated cables. Position Control Unit Cables, Servo Relay Unit, Servo Drive Cable are sold separately. Position Controller Model Servo Drive Position Control Unit Cable Servo Relay Unit Servo Drive Cable Model For 1 axis CS Series POWER ALM C N 3 C N 1 CN2 C N B * BP 1 axis CS1W-NC113 (Open-collector output) CS1W-NC213/413 (Open-collector output) CS1W-NC233/433 (Line-driver output) 2/4 axes CS1W-NC133 (Line-driver output) [email protected]@@J-A6 GT KT WT UT UP BP [email protected]@@J-A8 GT KT WT UT [email protected]@@J-A10 GT KT WT UT BP [email protected]@@J-A12 GT KT WT UT UP BP [email protected]@@J-A7 GT KT WT UT UP BP [email protected]@@J-A9 GT KT WT UT UP BP [email protected]@@J-A11 GT KT WT UT UP BP [email protected]@@J-A13 GT KT WT UT UP BP UP XW2B-20J6-1B C N A For SMARTSTEP 2 SMARTSTEP 2 Servo Drive [email protected]@@J-B29 R7D-BP For 2 axes UP * For OMNUC G/G5 Series XW2B-40J6-2B [email protected]@@J-B25 OMNUC G/G5 Series Servo Drive R88D-GT/KT * For OMNUC W Series OMNUC W Series Servo Drive [email protected]@@J-B4 R88D-WT * For OMNUC U Series OMNUC U Series Servo Drive [email protected]@@J-B4 R88D-UT (1 kW min.) [email protected]@@J-B1 R88D-UP (750 W max.) The following icons represents applicable servo drives. BP GT KT WT UT UP : SMARTSTEP2 : OMNUC G Series : OMNUC G5 Series : OMNUC W Series : OMNUC U Series (1 kW min.) : OMNUC U Series (750 W max.) * Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit. 7 [email protected]@3 Using Servo Relay Unit w/commnunications function Model Position Control Unit Cable Servo Relay Unit Servo Driver Cable Servo Drive For 2 axes *1, *2 CS1W-NC133/233/433 (Line-driver output) 1/2/4 axes CS1W-NC113/213/413 (Open-collector output) *3 [email protected]@@J-A7 For OMNUC W Series Serial Communications Unit For OMNUC W Series [email protected]@@J-A9 For SMARTSTEP A Series [email protected]@@J-A11 For OMNUC W Series XW2B-40J6-4A (Commnunications supported) [email protected]@@J-B8 (Commnunications supported) OMNUC W Series Servo Drive R88D-WT [email protected]@@J-A13 For SMARTSTEP A Series Serial Communications Unit Cable *4 CS1W-SCU41-V1 CS1W-SCU31-V1 [email protected]@@J-C1 *1. When using for one-axis control, do not connect signal inputs to the Y-axis connector of XW2B-40J6-4A. *2. When using two-axes control,you cannot mix W Series with SMARTSTEP A Series as Servo Drives. *3. When using in combination with the CS1W-NC213/NC233 (2-axis control), 2 Servo Driver Connecting Cables are required. When using in combination with the CS1W-NC413/NC433 (4-axis control), 4 Servo Driver Connecting Cables are required. *4. When using for two or four-axes control, connect between communications connectors of XW2B-40J6-4A with this cable. 8 [email protected]@3 Dimensions (Unit: mm) CS1W-NC113/213/413 CS1W-NC133/233/433 130 35 101 Note: The above diagram is for the CS1W-NC413. Backplane Mounted Dimensions Connecting cable 117 Approx. 230 Related Manuals Manual number English Japanese Model Name Contents W376 SBCE-311 CS1W-NC113/133/213/233/413/433 Position Control Units Operation Manual Provides information on operating and installing Position Control Units, including details, basic settings, memory operation, direct operation from CPU and other functions. W433 SBCE-324 [email protected]@[email protected] CX-Position Operation Manual Provides an overview of CX-Position, its functions, and the system configuration, installation, and troubleshooting. 9 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. 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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.