CJ series Position Control Units [email protected]@3 CSM_CJ1W-NC_DS_E_8_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. CJ1W-NC113 CJ1W-NC213 CJ1W-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 CJ series Position Control Unit CJ1W-NC213 OMNUC G/G5-series AC Servo Drive Position Control Unit Cable [email protected]@@J-A15 OMNUC G/G5-series AC Servo Motor OMNUC G/G5-series AC Servo Drive 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 Number of control axes 1 axis 1 2 axes 4 axes * 2 1 axis 1 2 axes Current consumption (A) 5V 24 V system system 0.25 − 0.25 − 0.36 − 0.25 − 0.25 − 4 axes * 0.36 Specifications Unit type Name Control method/Control output interface Position control unit CJ1 Special I/O Units Open-loop control by pulse train output/ Open-collector output Open-loop control by pulse train output/ Line-driver output Space Unit No. of unit numbers allocated 2 − The ambient operation temperature range can be increased to 0 to 55°C if the CJ1W-SP001 CJ-series Space Unit is used. Model CJ1W-NC113 CJ1W-NC213 CJ1W-NC413 CJ1W-NC133 CJ1W-NC233 Standards UC1, CE CJ1W-NC433 CJ1W-SP001 UC1, CE Note: This unit cannot be used with the Machine Automation Controller NJ-series. * The ambient operating temperature of the CJ1W-NC413/NC433 is 0 to 50°C. Allowable power supply voltage range for external power supply is 22.8 to 25.2 V DC. 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 FA Integrated (32-bit/64-bit version) / Windows 7 (32-bit/64-bit version) / Windows 8 (32Tool Package 1 license * bit/64-bit version) / Windows 8.1 (32-bit/64-bit version) / Windows 10 (32CX-One DVD bit/64-bit version) Ver. 4. @ Model Standards CXONE-AL01D-V4 − Model Standards CX-One Ver.4. @ includes CX-Position Ver.2. @. For details, refer to the CX-One 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 Unit/Cables Name Servo Relay Unit Applicable units For CJ1W-NC113/133 (No communication supported) For CJ1W-NC213/233/413/433 (No communication supported) For CJ1W-NC113/133/213/233/413/433 (Communication supported) Applicable drives Number of control axes − 1 axis − XW2B-20J6-1B − 2 axes − XW2B-40J6-2B − 2 axes − XW2B-40J6-4A OMNUC G/G5 Series, SMARTSTEP 2 For CJ1W-NC113 1 axis SMARTSTEP Junior Series Open-collector output OMNUC G/G5 Series, SMARTSTEP 2 For CJ1W-NC213/413 Position Control Unit Cables for Servo Relay Unit Cable length 2 axes SMARTSTEP Junior Series OMNUC G/G5 Series, SMARTSTEP 2 For CJ1W-NC313 1 axis SMARTSTEP Junior Series Line-driver output OMNUC G/G5 Series, SMARTSTEP 2 For CJ1W-NC233/413 2 axes SMARTSTEP Junior Series 0.5m XW2Z-050J-A14 1m XW2Z-100J-A14 0.5m XW2Z-050J-A16 1m XW2Z-100J-A16 0.5m XW2Z-050J-A15 1m XW2Z-100J-A15 0.5m XW2Z-050J-A17 1m XW2Z-100J-A17 0.5m XW2Z-050J-A18 1m XW2Z-100J-A18 0.5m XW2Z-050J-A20 1m XW2Z-100J-A20 0.5m XW2Z-050J-A19 1m XW2Z-100J-A19 0.5m XW2Z-050J-A21 1m XW2Z-100J-A21 − − 2 [email protected]@3 Accessories The Position Control Unit includes the 40-pin solder-type connectors C500-CE404 (socket: Fujitsu FCN-361J040-AU, cover: Fujitsu FCN360C040-J2). Applicable Connectors Name External I/O Connectors Specifications Model 40 pin, soldered, right angle w/cover (included with the Unit) C500-CE404 40 pin, crimped right angle w/cover C500-CE405 40 pin, Pressure welded, w/o cover C500-CE403 40 pin, soldered, w/cover C500-CE401 40 pin, crimped w/cover C500-CE402 Mountable Racks NJ system Model CJ1W-NC113/133/213/233/413/433 Expansion Rack CPU Rack CJ system (CJ1, CJ2) CPU Rack Expansion Backplane 10 Units 10 Units (per Expansion Backplane) Not supported CP1H system NSJ system CP1H PLC NSJ Controller Expansion Backplane 2 Units * Not Supported 8 Units * CJ Unit Adapter CP1W-EXT01 required. Specifications Basic Specifications Item Model CJ1W-NC113/133 CJ1W-NC213/233 CJ1W-NC413/433 5 V DC (for the PCU itself) Power supply voltage 24 V DC (external power supply) 5 V DC (external power supply; line driver output only) 4.75 to 5.25 V DC (for the PCU itself) Allowable power supply voltage range 21.6 to 26.4 V DC (external power supply) 22.8 to 25.2 V DC (external power supply) 4.75 to 5.25 V DC (external power supply; line driver output only) Internal current consumption 250 mA max. at 5 V DC NC113: 30 mA max. at 24 V DC Current consumption of external power supply NC133: 10 mA max. at 24 V DC NC133: 60 mA max. at 5 V DC External dimensions 90 (H) × 31 (W) × 65 (D) (all models) Weight 100 g max. Ambient operating temperature 0 to 55°C 250 mA max. at 5 V DC 360 mA max. at 5 V DC NC213: 50 mA max. at 24 V DC NC233: 20 mA max. at 24 V DC NC233: 120 mA max. at 5 V DC NC413: 100 mA max. at 24 V DC NC433: 30 mA max. at 24 V DC NC433: 230 mA max. at 5 V DC 100 g max. 150 g max. 0 to 50°C * Note: Specifications not listed above conform to CJ Series general specifications. * Refer to Operation Manual 3-3-5 Mounting Precaution for CJ1W-NC413/NC433 for information on the ambient operating temperature of the CJ1W-NC413/433. 3 [email protected]@3 Performance Specifications Model Item Applicable PLC models Control system Number of control axes Acceleration and deceleration times 20 words Open-loop control by pulse train output 1 axis 2 axes 4 axes 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 *2 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 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 Software 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 10 words Pulse Positioning operations Speeds 5 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 CJ1W-NC413/433 Special I/O Unit Words Controlled driver Control CJ1W-NC213/233 CJ-series PLCs *1 Unit type I/O requirements CJ1W-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 *1. The additional functions supported by unit version 2.0 can be used only when the PCU is installed with a CJ1-H or CJ1M 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 CJ1 CPU Unit. For details on Unit versions, refer to Unit Versions of CJ-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 20 20 X MACH No. 101 23 20 23 9 01 100 NC113 9 01 23 9 01 9 01 9 01 78 9 01 78 20 MACH No. 101 23 RUN ERC ERH RUN ERC ERH 456 78 20 Unit number setting switch Sets the unit number for the PCU. X Y 456 100 NC213 456 LED indicators Show the PCU's operating status. 456 23 RUN ERC ERH 456 23 456 MACH No. 101 Z U 78 X Y [email protected] 78 NC413 [email protected] 78 [email protected] 100 20 1 YX CN1 Z/U axis connector Connect to stepping motor driver or Servo Drive. (Controls 2 axes.) X axis connector CN1 CN2 X/Y axis connector Connect to stepping motor driver or Servo Drive. (Controls 2 axes.) CN1 X/Y axis connector 1 1 1 UZ Y X 1 1 X LED Indicators Name RUN ERC Color Green Red ERH Red X Orange Y Z U 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 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 CJ1W-NC113/NC133, this applies only to the X axis; for the CJ1W-NC213/NC233, it applies only to the X and Y axes. 2. When not all of the axes are used for the CJ1W-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 CJ-series Position Control Units CJ1W-NC113/133/213/233/413/433 Functions 2.0 Ver. 2.3 2.3 Changing the acceleration for a multiple start during relative movement or absolute movement in direct operation Not supported Supported Supported Changing acceleration/deceleration time during jog operation Not supported Supported Supported Setting acceleration/deceleration time for axis parameters until the target speed is reached Not supported Supported Supported Easy backup function Not supported Supported Supported Setting number of unused axes Not supported Not supported Supported Setting CW/CCW pulse output direction Not supported Not supported Supported Setting origin search pattern Not supported Not supported Supported Position data setting when origin signal stops Not supported Not supported Supported Setting jog operation Not supported Not supported Supported Setting deviation counter reset output signal Not supported Not supported Supported Checking parameters and data at startup Not supported Not supported Supported CX-Position Ver. 1.0 or later CX-Position Ver. 1.0 *1 CX-Position Ver. 2.0 or later CX-Position Ver. 1.0 *1 CX-Position Ver. 2.0 *2 CX-Position Ver. 2.1 *2 CX-Position Ver. 2.2 or later Support Software Note: The Position Control Unit must be installed with CJ1-H or CJ1M 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 CJ1 CPU Unit. *1. With CX-Position Ver. 1.0, new functions added to Position Control Units Ver. 2.0 or higher cannot be used. *2. With CX-Position Ver. 2.0 and CX-Positon Ver. 2.1, new functions added to Position Control Units Ver. 2.3 or higher cannot be used. 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 Position Control Unit Cable CJ Series Servo Drive Servo Relay Unit Servo Drive Cable Model For 1 axis POWER ALM C N 3 C N 1 CN2 C N B * BP 1 axis CJ1W-NC113 (Open-collector output) CJ1W-NC133 (Line-driver output) [email protected]@@J-A16 BP GT KT UT UP [email protected]@@J-A18 BP GT KT UT UP BP CJ1W-NC233/433 (Line-driver output) XW2B-20J6-1B For SMARTSTEP 2 SMARTSTEP 2 Servo Drive [email protected]@@J-B29 R7D-BP For 2 axes [email protected]@@J-A20 GT KT UT UP [email protected]@@J-A15 BP GT KT UT UP 2/4 axes CJ1W-NC213/413 (Open-collector output) [email protected]@@J-A14 GT KT UT UP C N A * XW2B-40J6-2B For OMNUC G/G5 Series OMNUC G/G5 Series Servo Drive [email protected]@@J-B25 R88D-GT/KT [email protected]@@J-A17 BP GT KT UT UP BP [email protected]@@J-A19 GT KT UT UP BP [email protected]@@J-A21 GT KT UT UP * 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 UT UP : SMARTSTEP2 : OMNUC G Series : OMNUC G5 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 Dimensions (Unit: mm) CJ1W-NC113/213/413 NC133/233/433 2.7 66.5 65 31 NC413 9 01 9 01 RUN ERC ERH 78 78 20 Z U 23 456 456 X Y 23 20 1 YX CN2 CN1 90 1 UZ 2.7 Note: The above diagram is for the CJ1W-NC413. Mounted Dimensions (112.5) 66.5 65 Connecting cable 8 [email protected]@3 CJ1W-SP001 2.7 65 20 SP001 90 2.7 Related Manuals Manual number English Japanese Model Name Contents W397 SBCE-315 CJ1W-NC113/133/213/233/413/433 Position Control Units Operation Manual Provides information on operating and installing Position Control Units, including details. on 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. 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.