CJ1W-NC414 Omron, CJ1W-NC414 Datasheet
CJ1W-NC414
Specifications of CJ1W-NC414
Related parts for CJ1W-NC414
CJ1W-NC414 Summary of contents
Page 1
... Cat. No. W477-E1-02 SYSMAC CJ1W-NC214/NC234/NC414/NC434 Position Control Units OPERATION MANUAL ...
Page 2
...
Page 3
... Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Introduction 1 ...
Page 4
... BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. 2 NONINFRINGEMENT, MERCHANTABILITY, PURPOSE OF THE PRODUCTS. NOT BE RESPONSIBLE CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) OR FITNESS FOR ANY BUYER OR USER FOR SPECIAL, INDIRECT, OR ...
Page 5
... Actual performance is subject to the OMRON Warranty and Limitations of Liability. ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Introduction 3 ...
Page 6
... WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt may result in malfunction, fire, or electric shock. WARNING Never touch any of the terminals while power is being supplied. Doing so may result in serious electric shock Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 7
... Make sure the unit version of the Position Control Unit is 2.3 or later before using the CW/ CCW Pulse Output Selection Function. Otherwise, the pulse output may be in the opposite direction from what was intended and the machine may be damaged. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Precautions 5 ...
Page 8
... Interlock circuits, limit circuits, and similar safety measures in external circuits (i.e., not in the Programmable Controller) must be provided by the customer. • Install external breakers and take other safety measures against short-circuiting Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 9
... Perform wiring according to specified procedures. • Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up. Not doing so may result in malfunction or damage. • Do not drop the Unit or subject it to abnormal shock or vibration. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Precautions 7 ...
Page 10
... EN61000-6-2 EN61000-6-4 (Radiated emission: 10-m regulations) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 11
... You can identify the number of axes and output pattern from the model number. CJ-series PCU Number of axes 2: 2-axis type 4: 4-axis type Output pattern 1: Open collector output type 3: Line driver output type Development number CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Items to Check When Unpacking − ...
Page 12
... Relevant pages: 1-14, 2-32 to 2-34, 2-37, 2-40 to 2-42, 2-47 to 2-50, 4-6, 4-37, 4-41 to 4-43, 5-31, 5-43, 5-59, 5-70, 5-78, 5-83, 6-6, 6-17, 7-6, 7-12, 7-21 to 7-22, 7-24, 7-54, 7-60 to 7-69, 8-21, 8-26, 9-3, 9-7, 9-19 to 9-20, 11-13 to 11-14, A-18, A-22, A-26 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Revised code ...
Page 13
... Chapter 12 Troubleshooting Maintenance and Chapter 13 Inspection Appendix CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Structure of This Document Outline This chapter explains the features, operating procedures, unit version and other aspects of this product. This chapter explains the names and functions, installation method and wiring method, among others. ...
Page 14
... Outline of Defining the Origin .......................................................................4-1 4-2 Origin Search Procedure..............................................................................4-3 4-3 Origin Search Operation.............................................................................4-23 4-4 Present Position Preset..............................................................................4-36 4-5 Origin Search with CX-Programmer...........................................................4-39 4-6 Absolute Encoder Origin Setting ................................................................4-42 4-7 Origin Return ..............................................................................................4- Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434 ...
Page 15
... Data Read with IORD Instruction............................................................... 8-36 8-6 Transfer with CX-Programmer ................................................................... 8-40 8-7 Saving Data ............................................................................................... 8-42 8-8 PCU Setup ................................................................................................. 8-45 8-9 Simple Backup ........................................................................................... 8-48 Chapter9 Operating Functions 9-1 Feedback Position Monitoring Function....................................................... 9-1 9-2 Interrupt Feeding.......................................................................................... 9-7 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 13 ...
Page 16
... Chapter13 Maintenance and Inspection 13-1 Items to Inspect ..........................................................................................13-1 13-2 Handling Precautions .................................................................................13-3 13-3 PCU Replacement Procedures ..................................................................13-4 Chapter14 Appendix Appendix-1 Performance List ....................................................................Appemdix-1 Appendix-2 Changes from the Existing PCU.............................................Appemdix-8 Appendix-3 Servo Drive Connecting Cable .............................................Appemdix-22 Index 14 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 17
... This chapter explains the features, operating procedures, performance specifications and other aspects of this unit. 1-1 Features ................................................................................. 1-1 Function .......................................................................................... 1-1 1-2 System Configuration........................................................... 1-3 Example of System Configuration (Example of CJ1W-NC414) ...... 1-3 1-3 Basic Functions .................................................................... 1-4 Operation Functions List ................................................................. 1-4 Position Control............................................................................... 1-5 Speed Control ................................................................................. 1-6 Synchronous Operation .................................................................. 1-7 Other Operations ...
Page 18
... Features 1 1-1 Features Position Control Units CJ1W-NC414/-NC434 (4-axis control The SYSMAC CJ-series Position Control Unit (CJ1W-NC214/234/414/434 Position Control Unit of pulse-output type (hereinafter called as "PCU") which is developed exclusively for the CJ-series. This PCU has built-in pulse counters, which have not been available before, to realize position check and detection of displacement of the machine ...
Page 19
... When you combine the PCU with a CJ2-series CPU (unit version 1.1 or later), you can synchronize PCUs. Use of a 4-axis PCU allows for synchronized, multi-axis control axes. You can perform synchronous operation easily by use of electronic CAMs, electronic shafts and other function blocks. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-1 Features 1 1-2 ...
Page 20
... This PCU inputs control signals from a system or control panel and outputs pulse trains to a stepping motor drive and Servomotor Drive. Control signals include the forward direction limit input, reverse direction limit input, origin input, origin proximity input, emergency stop input and interrupt input. Example of System Configuration (Example of CJ1W-NC414) Use for data setting, monitoring ...
Page 21
... Linear interpolation Multi-axis Circular coordinated interpolation control Error between axes monitor Positioning by continuous pattern Sequence control Positioning start by external input CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-3 Basic Functions Direct Memory Remarks operation operation Yes Yes Yes Yes Yes Yes Yes ...
Page 22
... You can also change the speed or target position during positioning operation. Note that direct operation does not support linear interpolation and circular interpolation. Pulse output 1-5 Y Time Start Speed change CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Target position after change Target position before change Position change, Start Start X ...
Page 23
... After a single start, you can output pulses continuously at a constant speed. Use a deceleration stop command to stop the machine. Both direct operation and memory operation support the speed control. Pulse output Start CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Performed in the order of the sequence data numbers Automatic positioning Continuous positioning Sequence ...
Page 24
... This is a function that moves the machine to a desired position which you want to load as data by JOG operation, etc., and then loads the applicable position into the specified position data. Reverse direction 1-7 Time Time Present position Origin Forward direction Specified sequence number CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 25
... Present Position Preset You can change the data of the present position to the desired data you specify. Backlash Compensation This function compensates for the meshing error of mechanical parts. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Override set value: 150% Time 1-3 Basic Functions ...
Page 26
... JOG Operation Define the origin of the motor shaft that will operate Perform direct operation Directly set the target position and speed from the CPU Unit to make the motor operate CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Chap. 4 Defining the Origin Chap. 6 Direct Operation ...
Page 27
... Perform periodic maintenance END *1: Perform wiring in accordance with the User's Manual for the motor and drive. *2: Refer to the Operation Manual for the CPU Unit. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-4 Operating Procedures Yes Chap. 10 Program Example Chap. 12 Maintenance and Inspection ...
Page 28
... NC434 90 mA maximum 90 × 51 × × W × D) 170 g maximum 0 to 55°C CJ-series CPU Rack or CJ-series Expansion Rack 5 units 20 units (when expansion racks are connected) No directives CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) CJ1W-NC414/434 5 VDC, 310 mA maximum 90 × 62 × × W × D) 220 g maximum ...
Page 29
... This indicates the number of occupied words of special I/O Unit area. correspond 144 words according to the number of axes and functions which you use. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-5 Specifications Model CJ1W-NC214/234 CJ1W-NC414/434 CJ-series *1 18CH Servo Drive of pulse train input type or stepping motor drives NC214/414: Open collector output type ...
Page 30
... It changes the present position to the specified data and establishes the origin. The operating axis decelerates to a stop. This function feeds the axis in the forward/reverse direction at a constant speed. The axis inches in the forward/reverse direction. Connect a manual pulsar and perform manual feed. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Description ...
Page 31
... Error between axes monitor CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Description You can set a desired unit of control for each axis according to the machine. This function automatically generates an acceleration/deceleration curve for axis operation. You can select the trapezoidal curve or the S-curve based on a tertiary function ...
Page 32
... The [Unit Manufacturing Information] dialog box appears. Check the unit version of the Position Control Unit connected online. 1-15 Product nameplate CJ1W-NC214 NC UNIT Indicates that the unit version is Ver. 1.0. Lot No. 031001 0000 Ver.1.0 OMRON Corporation MADE IN JAPAN Unit version CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 33
... Identification by the Unit Version Label Each product comes with a unit version label. Attach it on the front face of the unit if you want to identify the unit from old PCU only by seeing the front of the unit. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-6 Unit Version 1 1-16 ...
Page 34
... Accordingly, even if the CJ-series product which you use is compliant with the relevant EC directives, the customer must still check the entire machine and system for compliance with the EC directives and take appropriate actions if necessary. 1-17 Susceptibility), while EN61000-6-4 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) specifies (Electro-Magnetic ...
Page 35
... This section explains the configuration and operating principles of the control system of the PCU. Control System Configuration PCU Bus CPU Unit interface MPU Memory Error counter CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-8 Control System Configuration and Principles Stepping motor drive Pulse train Pulse generator I/O interface Pulse generator ...
Page 36
... Servomotors are often used under this type of control method. Position Controller 1-19 Stepping motor or Table pulse train input Servomotor Pulse train Decelerator Stepping motor or pulse train input Servomotor Pulse train Feedback pulse Encoder Decelerator CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Ball screw Table Ball screw ...
Page 37
... P × θs The PCU gives the above number of pulses and pulse speed as a position command and a speed command, respectively, to perform positioning control. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 1-8 Control System Configuration and Principles Reduction gear ratio V : Feed speed of moving object (mm/ Feed screw pitch (mm/rotation) θ ...
Page 38
... The following window appears. Perform all operations about the PCU on this window. For details on how to operate CX-Programmer, refer to "CX-Programmer Operation Manual (W446)." For details on how to set data in the PCU and perform other operations, refer to Online Help on the data setting window of the PCU. 1-21 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 39
... Connection Examples for Stepping Motor .................................... 2-39 Connection Examples for Servo Drive .......................................... 2-40 2-6 Wiring of Unused Axis........................................................ 2-45 2-7 Connection with Dedicated Cable ..................................... 2-46 CJ1W-NC234/NC434 Cable ......................................................... 2-47 CJ1W-NC214/NC414 Cable ......................................................... 2-49 2-8 Wiring Check with CX-Programmer .................................. 2-51 Operating Procedure..................................................................... 2-51 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2 ...
Page 40
... Name of Each Part and Area Allocation 2-1 Name of Each Part and Area Allocation 2 This section explains the name of each part of the PCU, and allocation of Special I/O Unit areas. Name of Each Part CJ1W-NC414/-NC434 Axes 1 and 2 connector Connects to the Servo Drive or stepping motor drive (2-axis control) ...
Page 41
... SYNC Green *1. For details on actions upon occurrence of errors, refer to Chapter 12, Troubleshooting. On the CJ1W-NC214/NC234, only the LEDs for axes 1 and 2 are available. Precautions for Correct Use Specify [Unused Axis] for each axis which you do not use. If there is any axis which you do not use as [Physical Axis], connect the emergency stop input and forward/reverse direction limit input to the input power supply and turn them ON, or set their contact logic to N ...
Page 42
... Special I/O Unit Memory areas are allocated in the CPU Unit according to the specified unit number. The CJ1W-NC214/NC234/NC414/NC434 are No. 2 occupied PCUs, and occupy the Special I/O Unit Memory area 18 word. Accordingly, you can set only unit No 94. You can set a desired unit number within the setting range, unless the selected number is already in use by other Special I/O Unit which is installed in the same PLC ...
Page 43
... Special Units. Since the CJ1W-NC214/NC234/NC414/434 are occupied areas for 2 units, you cannot set them to No. 95. Do not set the same unit number or Special I/O Unit memory area which is already in use by other Special I/O Unit. If you set a duplicate unit number or area, the fatal error " ...
Page 44
... Connector SYSMAC RUN CJ1G-CPU 44 ERR/ALM INH PROGRAMMABLE PRPHL CONTROLLER COMM OPEN MCPWR BUSY PERIP HERA L PORT Slider SYSMAC RUN ERR/ALM CJ1G-CPU 44 INH PROGRAMMABLE PRPHL CONTROLLER COMM OPEN MCPWR BUSY PERIP HERA L PORT CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Lock Release ...
Page 45
... Wire offcuts may scatter during wiring. To prevent wire offcuts from entering the PCU, do not remove the label on the top face of the PCU. Once wiring is complete, however, be sure to remove the label for heat radiation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-2 Installation of PCU Remove the label once wiring is complete. ...
Page 46
... Installation of PCU 2 Dimensions CJ1W-NC214/-NC234 2.7 90 2.7 CJ1W-NC414/-NC434 2.7 90 2.7 2 Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434 ...
Page 47
... The other group includes external signal connectors that connect the origin input, limit input, interrupt input or other external input. Servo Drive Connector Axes 3 and 4 Axes 1 and CJ1W-NC414/434 External Signal Connector Axes 3 and 4 Axes 1 and CJ1W-NC414/434 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-3 External I/O Circuit Axes 1 and CJ1W-NC214/234 Axes 1 and CJ1W-NC214/234 ...
Page 48
... Reverse direction pulse output and 38 direction output (+) Alarm input 48 Positioning completed input 50 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) I/O Name IN 24-V power supply for output IN 24-V ground for output IN General-purpose input IN Origin input (24 V) OUT General-purpose output OUT Alarm reset output ...
Page 49
... IN Emergency stop input 15 Not used (Do not use.) MPG phase B (+) and encoder 17 IN MPG phase B (+) MPG phase A (+) and encoder 19 IN phase A (+) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Pin Name I/O number 2 IN Input common 4 IN Reverse direction limit input 6 IN Origin proximity input ...
Page 50
... Reverse direction pulse output and 38 direction output (+) Alarm input 48 Positioning completed input 50 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) I/O Name IN 24-V power supply for output IN 24-V ground for output IN General-purpose input IN Origin input (24 V) OUT General-purpose output OUT Alarm reset output ...
Page 51
... IN Emergency stop input 15 Not used (Do not use.) MPG phase B (+) and encoder 17 IN MPG phase B (+) MPG phase A (+) and encoder 19 IN phase A (+) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Pin Name I/O number 2 IN Input common 4 IN Reverse direction limit input 6 IN Origin proximity input ...
Page 52
... Reverse direction pulse output and 38 direction output Alarm input 48 Positioning completed input 50 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) I/O Name IN 24-V power supply for output IN 24-V ground for output IN General-purpose input IN Origin input (24 V) OUT General-purpose output OUT Alarm reset output ...
Page 53
... IN Emergency stop input 15 Not used (Do not use.) MPG phase B (+) and encoder 17 IN MPG phase B (+) MPG phase A (+) and encoder 19 IN phase A (+) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Pin Name I/O number 2 IN Input common 4 IN Reverse direction limit input 6 IN Origin proximity input ...
Page 54
... External I/O Circuit CJ1W-NC414 (Open Collector Output Type) 2 Servo Drive Connector CN2: For axes 1 and 2 CN1: For axes 3 and 4 Pin Allocation I/O number 1 IN Common OUT RUN output 13 OUT Torque limit output 15 OUT Error counter reset output 17 OUT Forward direction pulse output ...
Page 55
... Emergency stop input 15 Not used (Do not use.) MPG phase B (+) and encoder 17 IN MPG phase B (+) MPG phase A (+) and encoder 19 IN phase A (+) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-3 External I/O Circuit Pin Name I/O number 2 IN Input common 4 IN Reverse direction limit input ...
Page 56
... Reverse direction pulse output and direction output 18/36 Reverse direction pulse output and direction output 1.6 kΩ (1/2 W) (with 1.6-kΩ resistance) (2) Open collector output with 1.6-kΩ limit resistance Output 24-VDC power supply + − Bypass resistance CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Output Drive 6 mA ...
Page 57
... PCU may malfunction. RUN Output, Error Counter Reset Output, Torque Limit Output, General-purpose Output Constant voltage circuit CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 17/39 Forward direction pulse output (+) 16/38 Forward direction pulse output (−) 19/37 Reverse direction pulse output and direction output (+) 18/36 Reverse direction pulse output and direction output (− ...
Page 58
... Encoder phase B (−) 120 Ω 23/33 Encoder phase B (+) 4.7 kΩ 68 kΩ 68 kΩ 4.7 kΩ 24/30 Encoder phase Z (−) 120 Ω 25/31 Encoder phase Z (+) 4.7 kΩ 68 kΩ CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 59
... Origin Input, Positioning Completed Input, Alarm Input, General-Purpose Input *1. You can specify N.C. or N.O. by setting axis parameters. For details, refer to "I/O Function Setting" on page 5-18. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5/50 Input common 750 Ω 4.7 kΩ 6/48 General-purpose input 750 Ω ...
Page 60
... CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Input common Forward direction limit input Reverse direction limit input Origin proximity input Origin input (24 V) Interrupt input Emergency stop input ...
Page 61
... MPG and External Encoder Input 330 Ω 330 Ω 330 Ω 330 Ω CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 19/39 MPG phase A (+) and encoder phase A (+) 680 Ω 20/40 MPG phase A (−) and encoder phase A (−) 17/37 MPG phase B (+) and encoder phase B (+) 680 Ω ...
Page 62
... Leakage current 0.1 mA maximum Residual voltage 0.2 V maximum Maximum output frequency 500 kpps Specification VDC 4.75 to 26.4 VDC 30 mA Ω (terminal with 1.6-k 0.1 mA maximum 1.0 V maximum CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Specification Ω limit resistance) limit resistance) ...
Page 63
... Encoder Input Item Line receiver input (Servo Drive connector) MPG and External Encoder Input Item Photocoupler input (External signal connector) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Specification µA maximum 0.8 V maximum Specification VDC 10.2 to 26.4 VDC 0.1 A/point, 1.0 A/common 0.1 mA maximum 1 ...
Page 64
... Other Control Inputs 2 Item Input voltage Input current ON voltage/current OFF voltage/current ON response time OFF response time 2-25 Specification 20.4 to 26.4 VDC 4.9 mA typ (24 VDC) 19 VDC minimum/3 mA minimum 5.0 VDC maximum/1 mA maximum 50 µs maximum 0.2 ms maximum CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 65
... Reverse direction pulse output When there is forward direction/reverse direction pulse output Forward direction pulse output Reverse direction pulse output When there is pulse or direction output Pulse output Direction output CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ON OFF Pulse output in progress Forward Reverse Forward ...
Page 66
... Motor driver 3,4 (line receiver input specifications 27/28 SG 17/39 (+) 16/38 (−) 19/37 (+) 18/36 (−) 24-VDC power supply + − 1,2 3,4 17/39 (+) 16/38 (−) 19/37 (+) 18/36 (−) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Motor driver (for 5-V input) ...
Page 67
... Connection with Motor Driver of 5-V TTL Input Specifications PCU (open collector output) CJ1W-NC214/NC414 24-VDC power supply for output Forward direction pulse output Reverse direction pulse output *1. This is an auto-reset fuse. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 24-VDC power supply + − 1,2 3,4 16/38 Approx 18/36 Approx ...
Page 68
... Error counter reset output General-purpose output RUN output Alarm reset output Torque limit output 2-29 24-VDC power supply + − 1,2 3,4 14/40 10/44 11/45 12/42 13/43 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Motor driver (for 5-V input) ...
Page 69
... General-purpose output RUN output Alarm reset output Torque limit output Connection with SEN Output PCU CJ1W-NC214/NC234/NC414/NC434 5 V SEN output Signal ground Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 24-VDC 5-VDC power power supply supply + − + − 1,2 3,4 15/41 10/44 11/45 12/42 ...
Page 70
... Drive alarm input 2-31 Connection Pattern Default setting N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. N.C. or N.O. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) N.C. N.C. N.O. N.O. N.O. N.C. N.O. N.O. N.C. ...
Page 71
... If the phase Z output from the Servo Drive is a line-driver output, use the encoder phase Z (+, −). Also, set the Origin Input Signal Selection axis parameter to 0 (use Z-phase input as the origin). CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 24-VDC power supply ...
Page 72
... If the phase Z output from the Servo Drive is an open-collector output, use the origin input (24 V). Also, set the Origin Input Signal Selection axis parameter to 0 (use Z-phase input as the origin). 2-33 24-VDC power supply 5/50 6/48 *1 8/46 7/49 9/47 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Motor driver ...
Page 73
... Origin Input Signal Selection axis parameter to 1 (use external origin input). MPG and External Encoder Input PCU CJ1W-NC214/NC234/NC414/NC434 MPG phase A input MPG phase B input *1. Provide an external power supply for MPG and external encoder. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 24-VDC power supply − + 1,2/21,22 9/3/29/23 N.O./N.C. bit 10/4/30/24 N ...
Page 74
... IDC tool Simple IDC tool XY2B-7006 2-35 Connector type Socket Hood cover Connection complete Hood cover For Servo Drive connector Horizontal type CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Model *1 XG4M-5030-T *2 XG5M-5032-N *3 XG5M-5035-N XG5S-5022 (horizontal) Usage type Double rows with polarity guide ...
Page 75
... The above drawing shows a vertical hood cover. The Servo Drive connector only accepts a horizontal hood cover, but the installation method is the same. Configuration Diagram for IDC Connector for Discrete Wires Horizontal Hood Cover 46.4 68.1 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Binding band Assembly dimensions drawing MIL plug+horizontal-type hood cover 9.5 53.8 51 ...
Page 76
... Green @ 3 Green @ Orange @ 4 Orange @ Gray @ 5 Gray @ Blue @@ 6 Blue @@ Peach @@ 7 Peach @@ Green @@ 8 Green @@ Orange @@ 9 Orange @@ Gray @@ 10 Gray @@ CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Model *1 XG4M-2030-T XG4M-2030-T (Joint side) Fork terminal (M3. Connector Dot color number Red 1 Black 2 Red 3 Black 4 Red 5 Black 6 Red 7 Black ...
Page 77
... In this case, insert a noise filter in the input part of the power supply. Ground to 100Ω or less, and use as thick a wire as possible which has a wire size of 1.25 mm greater. For the power line, we recommend using a twisted-pair cable. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) For AC relay AC Surge absorption ...
Page 78
... ORIENTAL MOTOR Co., Ltd. stepping motor drive RKD514L-A Shield +CW −CW 16 +CCW −CCW VDC OMRON proximity switch E2R-A01 (NPN output type) 9 N.C. bit 10 N.C. bit 12 N.O. bit 13 N.C. bit 14 N.O. bit CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Stepping motor PK564AE 24 VDC ...
Page 79
... If you do not connect or set the positioning completed signal of the Servo Drive properly, Origin Search may not complete or the positioning completed flag may not turn ON. Connection Examples for OMNUC G5/G-series Servo Drive Example of Connection with Line Driver (CJ1W-NC234/NC434) PCU (line driver) CJ1W-NC234/NC434 ...
Page 80
... Connection Examples for Different Types of Motor Drive and phase A advance pulses (selectable by the pulse output direction selection parameter). Note 3. For a G5-series Servo Drive, the default settings are used for the control I/O signals. 2 2-41 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 81
... Connection Examples for Different Types of Motor Drive Example of Connection with Open Collector (CJ1W-NC214/NC414) PCU (open collector) CJ1W-NC214/NC414 Servo Drive connector Forward direction pulse output (with 1.6-kΩ resistance) Reverse direction pulse output (with 1.6-kΩ resistance) Input common 24-V power supply for output ...
Page 82
... Connection Examples for Different Types of Motor Drive Connection Examples for SMARTSTEP2 Series Servo Drive 2 Example of Connection with Line Driver (CJ1W-NC234/NC434) PCU (line driver) CJ1W-NC234/NC434 Servo Drive connector Forward direction pulse output (+) Forward direction pulse output (−) Reverse direction pulse output (+) Reverse direction pulse output (− ...
Page 83
... Connection Examples for Different Types of Motor Drive Example of Connection with Open Collector (CJ1W-NC214/NC414) PCU (open collector) CJ1W-NC214/NC414 Servo Drive connector Forward direction pulse output (with 1.6-kΩ resistance) Reverse direction pulse output (with 1.6-kΩ resistance) Input common 24-V power supply for output ...
Page 84
... Select [Physical Axis] for those axes that are actually wired to operate, and set [Unused Axis] for unused axes. 2-45 Function Set the axis type. 0: Physical axis, 1: Virtual axis, 2: Unused axis CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit setting *1 − ...
Page 85
... Servo Drive (3) Servo Drive connecting cable (4) External signal connecting cable (5) Terminal block CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-7 Connection with Dedicated Cable Name CJ1W-NC214 CJ1W-NC234 PCU CJ1W-NC414 CJ1W-NC434 R88D-GTxxx R88D-WTxxx R7D-BPxxx R7D-APxxx XW2Z-xxxJ-Gx XW2Z-xxxX XW2B-20G4 XW2B-20G5 XW2D-20G6 (1) CN1 CN2 RUN ...
Page 86
... XW2Z-100J-G2 2-axis type 5 m XW2Z-500J- XW2Z-10MJ- XW2Z-100J-G12 1-axis type 5 m XW2Z-500J-G12 10 m XW2Z-10MJ-G12 1 m XW2Z-100J-G4 2-axis type 5 m XW2Z-500J- XW2Z-10MJ- XW2Z-100J-G11 1-axis type 5 m XW2Z-500J-G11 10 m XW2Z-10MJ-G11 1 m XW2Z-100J-G3 2-axis type 5 m XW2Z-500J- XW2Z-10MJ-G3 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 87
... This cable connects external signals such as the forward direction limit input, reverse direction limit input, origin proximity input, origin input, interrupt input and emergency stop input. Cable Type Terminal Block Type XW2B-20G5 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-7 Connection with Dedicated Cable 1000 15 26 ...
Page 88
... When you use this cable, set Pn005 (Command Pulse Input Selection) of the G5- series Servo Drive or Pn40 (Command Pulse Input Selection) of the G-series Servo Drive to 0 (photocoupler input). Connection Configuration and Dimensions Cable for the 1-axis type PCU side 1 CJ1W-NC214 CJ1W-NC414 49 2-49 Length 1 m 1-axis type ...
Page 89
... Cable for the 2-axis type 1000 PCU side 1 2 CJ1W-NC214 CJ1W-NC414 49 50 *1. The SMARTSTEP2 Series (R7D-BPx) uses a 26-pin connector, while the SMARTSTEP Series (R7D- APx) uses a 36-pin connector. For the cable wiring diagram, refer to "Appendix-3 Servo Drive Connecting Cable". External Signal Connecting Cable and Terminal Block This cable connects external signals such as the forward direction limit input, reverse direction limit input, origin proximity input, origin input, interrupt input and emergency stop input ...
Page 90
... When the caution dialog box below appears, read the message carefully. After you confirm a safe condition, click [OK]. Precautions for Correct Use When you click [OK], the PCU enters the SOFTWARE EXCLUSIVE mode (Test Run). For the SOFTWARE EXCLUSIVE mode (Test Run), refer to "Outline of Manual Operation" on page 3-1. 2-51 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 91
... Select the axis whose wiring you want to check. 6. Under [Output Signal] and [Input Signal], status. 7. Under [Output Signal], click 8. Under [Output Signal], click CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 2-8 Wiring Check with CX-Programmer and indicate the current of the output you want to turn ON. ...
Page 92
...
Page 93
... MPG Operation.................................................................... 3-12 Operation Procedure..................................................................... 3-12 Common Parameter Settings........................................................ 3-12 Timing Chart ................................................................................. 3-14 Program Example ......................................................................... 3-15 3-5 Manual Operation with CX-Programmer........................... 3-16 Procedure to Open Manual Operation Window ............................ 3-16 JOG Operation/Inching Operation Procedure............................... 3-17 Direct Operation Procedure .......................................................... 3-18 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3 ...
Page 94
... Retain the status before the SOFTWARE OFF Enable EXCLUSIVE mode (Test Run) transition. Normal ON Normal operation operation CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Operation from PLC Not possible Only the PCU Control memory area can operate. Not possible Not possible Possible ...
Page 95
... Enter the first word number under [First Word of Manual Operation Command Memory Area]. Reference If you want to perform JOG operation only, you can operate the axis only with the above common parameters settings. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-2 JOG Operation 3 3-2 ...
Page 96
... C350 hex), which corresponds to 0.01% to 500.00 Refer to the explanation for axis Refer to the explanation for axis Refer to the explanation for axis Refer to the explanation for axis Refer to the explanation for axis 1. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function ...
Page 97
... Pulse Count Per Motor Rotation] and [Work Travel Distance Per Motor Rotation above are both 2,000 pulses, so enter [2000] for both. 5) [JOG/ Inching Speed above is 10 kpps, so enter [10000]. [JOG/ Inching Speed kpps, so enter [20000]. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Bit Bit name Refer to the explanation for axis 1. ...
Page 98
... If you set this parameter to [0], the axis operates as JOG. Set JOG/inching speed 1. Set JOG/inching speed 2. Set the acceleration time of JOG operation. Set the deceleration time of JOG operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit value * 4000 Command unit ...
Page 99
... As a result, the CPU cyclic stopped every time you restarted the unit. This PCU has a unit setup memory area (n word, bit 15) that can restart the unit alone without stopping the CPU. For details, refer to "PCU Setup" on page 8-45. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-2 JOG Operation 3 3-6 ...
Page 100
... During servo lock (During axis stop) During JOG/Inching Pulse output The positioning operation completed signal turns OFF when the JOG operation starts. 3-7 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Time ...
Page 101
... Operation switch W10007 JOG reverse Forward direction JOG/inching direction Operation switch JOG speed selection switch Servo unlock command CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-2 JOG Operation W10000 Servo lock W10007 Forward direction JOG/inching W10008 Reverse direction JOG/inching W10006 JOG/inching speed selection ...
Page 102
... Enter [1000] as the set value. Since you have changed the parameter, transfer the parameter data to the PCU and restart the PCU. For details, refer to "Data Transfer and Restart" on page 3-6. 3-9 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 103
... Forward direction JOG/ inching received Axis busy JOG start available During servo locking (During axis stop) During JOG/Inching Pulse output The positioning operation completed signal turns OFF when inching operation starts. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ON OFF ON OFF ON OFF ON OFF ...
Page 104
... Inching speed selection switch Servo unlock command 3-11 W10000 W10008 W10007 Reverse direction JOG/inching W10007 W10008 Forward direction JOG/inching W10006 W10015 END CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Servo lock Forward direction JOG/inching Reverse direction JOG/inching JOG/inching speed selection Servo unlock ...
Page 105
... During MPG operation, however, input pulses are not converted into the command unit, but they are reflected in the output in units of pulses. (Count values which you read with the IORD instruction are command units.) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-4 MPG Operation 3 ...
Page 106
... Set the magnification 4 for MPG pulses. (Denominator) Memory area Bit Select the MPG magnification commonly used by all units. 00: Magnification 1 selection 01: Magnification 2 selection 10: Magnification 3 selection 11: Magnification 4 selection CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit value − 10000 − 1 − 10 − 10000 1 − ...
Page 107
... MPG valid received Axis busy During servo lock (During axis stop) During MPG operation MPG pulse input Pulse output * The positioning operation completed signal turns OFF upon reception of a MPG enable signal. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ON OFF ON OFF ON OFF ON OFF ...
Page 108
... Servo lock command MPG operation switch MPG magnification selection switch 1 MPG magnification selection switch 2 Servo unlock command 3-15 W10000 Servo lock W10009 MPG valid 203700 MPG magnification selection 203701 MPG magnification selection W10015 Servo unlock END CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 109
... Precautions for Correct Use When you click [OK], the PCU enters the SOFTWARE EXCLUSIVE mode (Test Run). For the SOFTWARE EXCLUSIVE mode (Test Run), refer to "Outline of Manual Operation" on page 3-1. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-5 Manual Operation with CX-Programmer 3 3-16 ...
Page 110
... Manual Operation with CX-Programmer 2. The manual operation window appears. 3 JOG Operation/Inching Operation Procedure 1. Select the [JOG/Inching] tab on the aforementioned manual operation window. The window below appears. 3-17 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 111
... ON the RUN output. 5. Select [Absolute Move] or [Relative Move]. Also specify the operating direction if the COUNT mode of the selected axis is ROTATION AXIS mode and you want to perform absolute movement. 6. Execute the operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 3-5 Manual Operation with CX-Programmer 3 3-18 ...
Page 112
...
Page 113
... Present Position Preset ................................................................ 4-38 4-5 Origin Search with CX-Programmer.................................. 4-39 Origin Search Procedure .............................................................. 4-39 4-6 Absolute Encoder Origin Setting ...................................... 4-42 Outline of Operation...................................................................... 4-42 Setting Procedure ......................................................................... 4-43 4-7 Origin Return....................................................................... 4-45 Axis Parameter Settings ............................................................... 4-45 Timing Chart ................................................................................. 4-46 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4 ...
Page 114
... This PCU has 3 types of present position preset functions. For details, refer to "Present Position Preset" on page 4-36. Description Positioning is performed to the origin which you determined by Origin Search or present position preset, from the position where the motor currently stops. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 115
... Relative movement Interrupt feeding Memory operation CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-1 Outline of Defining the Origin Operation If the origin is not confirmed, the position at power ON is defined as "0" to control movements. Do not use. When you use this function, a present position unknown error (error code: 6006) occurs ...
Page 116
... Enter the beginning word number under [First Word of Manual Operation Command Memory Area]. 9. Click [Axis Status Memory Area Selection]. Select one of five areas: [CIO Area], [WR Area], [HR Area], [DM Area] and [EM Area (5 bank No.)]. 10. Enter the beginning word number under [First Word of Axis Status Memory Area]. 4-3 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 117
... Axis 3 override A+6 Axis 4 manual operation command memory area A+7 Axis 4 override CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Bit Bit name Servo lock The RUN output turns ON the moment this bit turns ON you set the RUN output function to general- purpose output, ON/OFF of this output becomes ON/OFF of the RUN output ...
Page 118
... JOG start This turns ON when the PCU can receive a JOG 1 available start command. Direct operation This turns ON when the PCU receives a 2 start available duplicate start command which becomes enabled by starting direct operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function ...
Page 119
... Words Name C+2 Axis 1 command (Continued) status CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Bit Bit name 3 Not used Do not use. During This remains ON while the PCU decelerates deceleration stop due to reception of a deceleration stop 4 input command or while the deceleration stop command is input ...
Page 120
... ON until the axis stops. During immediate This turns ON when the PCU makes an 9 stop immediate stop while in operation, and remains ON until the axis stops Not used Do not use. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function ...
Page 121
... C+29 Axis 3 operation status C+31 Axis 3 control status C+33 Axis 3 error code CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Bit Bit name Origin fix This turns ON once the origin is confirmed Origin not yet confirmed 1: Origin confirmation Origin Stop ...
Page 122
... C+44 Axis 4 control 4 status C+46 Axis 4 error code 4-9 Bit Bit name Refer to the explanation for axis Refer to the explanation for axis Refer to the explanation for axis Refer to the explanation for axis 1. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function ...
Page 123
... Search Deceleration Time]. Reference Set other settings such as [JOG/Inching Setting], [Feedback Pulse Input Setting], [Expanded Monitor Type] and [Monitor Function Setting] if necessary. For details on axis parameters, refer to "Axis Parameters" on page 5-13. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure 4-10 4 ...
Page 124
... This setting range is based on the pulse unit. *2. For details, refer to "Command Position Unit Setting" on page 5-29. 4-11 Function Select the axis type. 0: Physical Axis 1: Virtual Axis 2: Unused Axis Function CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit value − Setting ...
Page 125
... Distance Per Motor Rotation] and select [1: 10 times] under this [Unit Multiplier]. In this case, the command unit becomes [0.1 mm]. If you want to issue commands in units of [0.01 mm], set [2: 100 times] under [Unit Multiplier]. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure 0 ...
Page 126
... Select the contact for input signals. 0: N.C. bit, 1: N.O. bit Select the contact for input signals. 0: N.C. bit, 1: N.O. bit Select the contact for input signals. 0: N.C. bit, 1: N.O. bit CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit value − ...
Page 127
... Immediate stop of pulse output, and output the error counter reset *7,*8 signal 3: Immediate stop of pulse output, output the error counter reset signal RUN signal 4: Immediate stop of pulse output, and RUN signal CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Function Setting range ...
Page 128
... As for origin compensation operation, it does not monitor the positioning completed input. If you set any value other than [0], an error is generated if the specified time is exceeded. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit value − ...
Page 129
... Select the acceleration/deceleration curve. Trapezoid Speed (pps) Actual axial operation acceleration time Maximum speed Target speed Starting speed 0 Acceleration time CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Function Setting range 0 to 4,000,000 0 to 4,000,000 250,000 S-curve Speed (pps) ...
Page 130
... TA [During speed change] TA: Acceleration time Ta2: Actual acceleration time A: Degree of acceleration Speed [During speed change] TA: Acceleration time A2: Degree of acceleration CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Time [During deceleration] TD: Deceleration time Td: Actual deceleration time D: Degree of deceleration Time D TD [During deceleration] TD: Deceleration time ...
Page 131
... Pulse plus direction output Forward Pulse output Output ON Direction output Pulse Output Direction You can change the rotation direction of the motor without changing the wiring. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Setting Function range Reverse ...
Page 132
... Function input OFF specified input ON specified Input OFF specified (Approach speed after reverse turn) input ON specified (Approach speed after reverse turn) amount origin input CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit value − 0 −2147483647 Command −2147483647 ...
Page 133
... Origin Search Set the deceleration time during Origin Deceleration Time Search. *1. The error stopping method depends on the limit input stopping method. *2. This setting range is based on the pulse unit. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure Setting Function range ...
Page 134
... Start Start Reverse direction Start Reverse direction Start Reverse direction CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Origin search approach speed Stop Forward direction Forward direction Stop Forward direction Start Forward direction When proximity start, the start direction is determined only by the origin input detecting direction setting ...
Page 135
... For operation details, refer to "Origin Compensation" on page 4-32. Origin Search Acceleration Time and Origin Search Deceleration Time Set the acceleration time and deceleration time during Origin Search. For details, refer to "Acceleration/Deceleration Setting" on page 4-16. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-2 Origin Search Procedure 4-22 4 ...
Page 136
... Search Speed in the direction opposite to the origin input detecting direction. After a reverse turn from the origin proximity input ON status, Origin Search operation starts at the Origin Search Speed in the origin input detecting direction. 4-23 ON OFF ON OFF Start CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Origin search approach speed Forward direction Stop ...
Page 137
... Search Speed in the direction opposite to the origin input detecting direction. After a reverse turn from the origin proximity input ON status, Origin Search operation starts at the Origin Search Approach Speed in the origin input detecting direction. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation Stop ...
Page 138
... Origin input signal Pulse output Reverse direction 4-25 ON OFF ON OFF Stop Start Origin search speed ON OFF ON OFF Origin search speed Start CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Origin search approach speed Forward direction Origin search approach speed Forward direction Stop ...
Page 139
... If you set the operation at the limit input in the Origin Search start direction to "Reverse," the axis reverses upon detection of the limit input and performs Origin Search operation in the origin input detecting direction. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation Origin search approach speed ...
Page 140
... Search start direction to "Reverse," the axis reverses upon detection of the limit input and performs Origin Search operation in the origin input detecting direction. 4-27 ON OFF Stop Start ON OFF Origin search approach speed Stop Start CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Start Forward direction Origin search speed Forward direction ...
Page 141
... OFF input signal ON Origin input signal OFF Origin search speed Pulse output Reverse direction CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation Origin search approach speed Stop Start Origin search approach speed Stop Start Origin search approach speed Start ...
Page 142
... Approach Speed in the direction opposite to the origin input detecting direction, and the origin position detection ends when the origin proximity signal turns from ON to OFF. 4-29 Origin proximity sensor (origin) Stop Stop Start (mechanical origin) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 143
... OFF Origin search high speed Pulse output Reverse direction Torque limit output signal CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation The origin is confirmed upon elapse of the specified time. Origin search approach speed Forward direction Stop Origin search approach speed ...
Page 144
... If you set the origin position offset to 0, the origin stop signal also turns ON the moment the origin confirmation signal turns ON. 4-31 ON OFF Start ON OFF ON OFF ON OFF ON OFF 0 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Origin search approach speed Forward direction Stop ...
Page 145
... Pulse output *1 Origin compensation operation starts approx. 0.5 seconds after the Error Counter Reset output turns OFF if you use the Error Counter Reset output. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation Deceleration Origin search compensation speed Compensation data amount movement *1 Approx ...
Page 146
... During servo lock (During axis stop) During Origin search Origin fix Origin proximity input Origin input Pulse output Error counter reset output 4-33 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Time ...
Page 147
... OFF During servo lock ON (During axis stop) OFF ON During Origin search OFF ON Origin fix OFF ON Origin proximity input OFF ON Origin input OFF Pulse output ON Error counter reset output OFF CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-3 Origin Search Operation Time 4-34 4 ...
Page 148
... During Origin Search Origin fix Origin proximity input Origin input Pulse output Error counter reset output 4-35 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Time ...
Page 149
... ON. Precautions for Correct Use The axis loses the mechanical origin and the operating condition changes to the origin unconfirmed status when you execute starting present position clear enable. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-4 Present Position Preset 4-36 4 ...
Page 150
... For a synchronous operation function that includes MPG, Origin Search function, and JOG/inching function, the setting of starting present position clear enable is disabled and 0 preset does not occur. 0 preset does not occur when the axis stops and then starts during memory operation (according to an automatic pattern, etc.). 4-37 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 151
... When you change the present position becomes the origin and thus the origin stop flag turns ON. ON Present position preset OFF ON Present position preset received OFF ON Positioning operation completed OFF ON Origin fix flag OFF CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-4 Present Position Preset 4-38 4 ...
Page 152
... Origin Search Procedure 1. On the data setting window of the PCU, click the [PCU] menu and select [Test Run]. When the caution dialog box below appears, read the message carefully. After you confirm a safe condition, click [OK]. 4-39 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 153
... For the SOFTWARE EXCLUSIVE mode (Test Run), refer to "Outline of Manual Operation" on page 3-1. 2. When the manual operation window appears, select the [Origin Search] tab. The window below appears. 3. Select the axis whose origin you want to search. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-5 Origin Search with CX-Programmer 4 4-40 ...
Page 154
... When you edit the Origin Search settings, be sure to click the [Confirm] button before you execute Origin Search you are using the RUN output of the PCU, click the [RUN Signal ON] button to turn ON the RUN output. 6. Execute Origin Search operation. 4-41 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 155
... The Servomotors which are equipped with an absolute encoder and connectable to the PCU are listed below. Manufacturer Series OMRON OMNUC G5 Series OMNUC G series OMNUC W series CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-6 Absolute Encoder Origin Setting Motor (ABS encoder) Servo Drive M Battery backup Servo Drive model Servomotor model ...
Page 156
... Encoder Origin Position Offset]. Reference After you set the absolute encoder origin, save the parameters. For information on how to save data, refer to "Saving Data" on page 8-42. 4-43 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 157
... For A, set the same value within the range of Servomotor/Servo Drive resolutions. [Example] Default setting for G-series Servo: Pn44 = 2,500 (Pn45 = 0) Number of PCU feedback pulses per motor rotation = 2,500 × 10,000. Accordingly, set 10,000. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 4-6 Absolute Encoder Origin Setting Servo Drive parameter G5 Series ...
Page 158
... Time Specification]. For details, refer to "Acceleration/Deceleration Setting" on page 4-16 and "Acceleration/ Deceleration Time Selection" on page 4-17. 4-45 Setting Function range 4,000,000 0 to 250,000 0 to 250,000 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit value Command 10,000 unit/s ms 1,000 ms 1,000 ...
Page 159
... The chart below shows the Origin Return timing chart of axis 1. Origin Return Origin Return received Axis busy Positioning completed During servo lock (During axis stop) During Origin Return Origin Stop Pulse output CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ON OFF ON OFF ON OFF ON OFF ...
Page 160
...
Page 161
... Operating Memory Area ..................................................... 5-56 Outline of Operating Memory Area ............................................... 5-56 PCU Control Memory Area ........................................................... 5-59 Manual Operation Command Memory Area ................................. 5-63 Direct Operation Command Memory Area.................................... 5-64 Axis Status Memory Area ............................................................. 5-68 Memory Operation Command Memory Area ................................ 5-77 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5 ...
Page 162
... Memory Operation Status Memory Area ...................................... 5-79 Memory Operation Data ..................................................... 5-83 Memory Operation Data List ......................................................... 5-83 Details of Memory Operation Data................................................ 5-88 Memory Operation Condition Data ................................... 5-98 Memory Operation Condition Data List ......................................... 5-98 Details of Memory Operation Condition Data ............................. 5-100 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 163
... Control Memory area (output) (Input) User-specified Memory area (specified by common parameter) Operating Memory area (output) (Input) User-specified (data transfer use) Transferred data CX-Programmer CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-1 Overall Structure PCU I/O refresh PCU command Status Operational command Status At power supply ...
Page 164
... Memory operation errors for input status, memory operation error codes, M strobes, M codes and other items that relate to memory operation are allocated in these areas. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Setting location Internal flash memory of the PCU Setting location ...
Page 165
... Memory operation These data set conditional expressions for condition condition data data, comparison area, timers, counters and other items that relate to memory operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-1 Overall Structure Description Internal flash memory of the PCU Setting location ...
Page 166
... The edit window appears on the right side. Click the row that shows the number of [Condition Data] you want to edit. 4. Select [Type]. 5. Select or enter a desired condition in the displayed dialog box for editing detailed conditions. 6. Select [Edge Selection]. 5-5 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 167
... Accordingly, use CX-Programmer to set these parameters. Common Parameters List General name Operation memory area allocation setting Synchronous data send selection CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Parameter name Manual Operation Command Memory Area Selection First Word of Manual Operation Command Memory Area Direct Operation Command Memory Area ...
Page 168
... Work Area W000 to W511 words Holding Area H000 to H511 words Data Memory Area D00000 to D32767 words Extended Data Memory Area E00_00000 to E1C_32767 words CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Reference Valid timing page 5-12 Always At power supply 5-12 ON, restart or ...
Page 169
... Unused axis numbers between used axis numbers are also occupied. Reference For details on the Direct Operation Command memory areas, refer to "Direct Operation Command Memory Area" on page 5-64. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-2 Common Parameters Area name Setting word range − ...
Page 170
... Core I/O Area 0000 to 6143words Work Area W000 to W511 words Holding Area H000 to H511 words Data Memory Area D00000 to D32767 words Extended Data Memory Area E00_00000 to E1C_32767 words CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Setting word range − *1 Setting word range − *1 ...
Page 171
... Unused task numbers between used task numbers are also occupied. Reference For details on the Memory Operation Status Memory areas, refer to "Memory Operation Status Memory Area" on page 5-79. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-2 Common Parameters Area name Setting word range − ...
Page 172
... F1: External encoder axis Data type 00: Feedback present position 01: Command present position 02: Position error 03: Present speed (calculation from the feedback position) 04: Present command speed CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Setting range Default values 0100 hex to Axis 1, feedback FF04 hex present position 0100 hex to ...
Page 173
... Selection F1: External encoder axis Select the object axis for latch 4. Latch 4 Object Axis 1: Axis 1, 2: Axis 2, 3: Axis 3, 4: Axis 4 Selection F1: External encoder axis CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-2 Common Parameters Function Setting range −10,000 to 10,000 1 to 10,000 −10,000 to ...
Page 174
... Single Axis Deceleration Time at Interpolation (Leftmost Word) Backlash Output Method Backlash Compensation Amount Backlash Compensation Speed (Rightmost Word) Backlash Compensation Speed (Leftmost Word) Pulse Output Method Pulse Output Direction CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Reference Valid timing page 5-17 5-18 5-19 5-20 5-20 5-21 ...
Page 175
... General name Command position unit setting Software limit setting Zone setting CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Parameter name Axis Feeding Mode External Rotation Axis Upper Limit (Rightmost Word) External Rotation Axis Upper Limit (Leftmost Word) External Display Unit External Command Pulse Count per Motor Rotation ...
Page 176
... Origin Search Compensation Speed (Leftmost Word) Origin Search Acceleration Time (Rightmost Word) Origin Search Acceleration Time (Leftmost Word) Origin Search Deceleration Time (Rightmost Word) Origin Search Deceleration Time (Leftmost Word) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Reference Valid timing page 5-35 5-37 Always 5-38 ...
Page 177
... JOG/ Inching setting Feedback pulse input setting Expanded monitor setting Error monitor function setting CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Parameter name Origin Return Speed (Rightmost Word) Origin Return Speed (Leftmost Word) Origin Return Acceleration Time (Rightmost Word) Origin Return Acceleration Time (Leftmost ...
Page 178
... The backlash compensation function is disabled, regardless of the settings. 5-17 Parameter name Synchronous Group Stop Selection Synchronous Feeding Command Position Data Function Set the axis type. 0: Physical axis, 1: Virtual axis, 2: Unused axis CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Reference Valid timing page At power supply ON, restart or 5-49 setup Always ...
Page 179
... N.C. bit, 1: N.O. bit Positioning Select the contact for input signals. Completed Input 0: N.C. bit, 1: N.O. bit Logic Drive Alarm Input Select the contact for input signals. Logic 0: N.C. bit, 1: N.O. bit CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-3 Axis Parameters Function Setting range ...
Page 180
... Select the function of the positioning completed input. 0: Use as general-purpose input 1: Use as positioning completed input Select the function of the drive alarm input. 0: Use as general-purpose input 1: Detect drive alarm input as an error CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit values − − ...
Page 181
... If you do not select for RUN output selection nor error counter reset output function, these parameters operate the same as when you set them to [0]. *4. Turn OFF the signal only when you set RUN output function to RUN output. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function Setting range ...
Page 182
... OFF. Function Set the automatic output time for error *2 counter reset output. Function Set the automatic output time when the drive alarm reset output is enabled. (upon an error reset) CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit values − 4 Default ...
Page 183
... The operations below do not monitor the positioning completed signal. Synchronous feeding JOG operation MPG operation Deceleration stop Error stop Origin Search, duplicate starts or reversing at interrupt feeding CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function Setting range 1 to 10,000 5-3 Axis Parameters Default Unit ...
Page 184
... Set the deceleration stop time to be applied when an error occurs in any of the interpolated axes or an individual deceleration stop is executed during interpolation operation in memory operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit values 1 to Command ...
Page 185
... Start Command position [Setting patterns for immediate stop at reverse rotation] When there is no reverse command Duplicate starts Speed Start Command position CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Quadruple Doubler 4,000,000 2,000,000 500,000 250,000 When there is a reverse command Duplicate starts Speed ...
Page 186
... Deceleration time Speed A A Ta1 Ta2 TA TA [During speed change] TA: Acceleration time Ta2: Actual acceleration time A: Degree of acceleration CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Actual axial operation Actual axial operation acceleration time deceleration time 0 Deceleration time Acceleration time [During deceleration] TD: Deceleration time ...
Page 187
... Axis Stop Method]. For the setting, refer to "Interpolation Axis Stop Method" on page 5-54. This is the time which you use for deceleration stop if any of the interpolated axes generates an error or an individual deceleration stop command is executed during interpolation of memory operation. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434 ...
Page 188
... Function advance pulse when the command is issued for the forward direction. advance pulse when the command is issued for the forward direction. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Setting range Unit values − ...
Page 189
... Forward direction pulse output Reverse direction pulse output Pulse Plus Direction Output Pulse output Direction output Pulse Output Direction You can change the rotation direction of the motor without changing the wiring. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Forward ON OFF ON OFF Forward ...
Page 190
... The default setting for an external encoder axis is [1]. *2. This setting range is based on the pulse unit. 5-29 Function Setting range 1073741823 1048576 1 to 1048576 4294967295 1 to 4294967295 Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit values *1 − 0 Command 1073741823 *2 unit − 0 Pulse 10000 Command 10000 unit − ...
Page 191
... Precautions for Correct Use Depending on [Command Position Unit Setting], an overflow may occur even if the command value is within the above range 1073741823. Take note that the number of pulses must not exceed 32 bits. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-3 Axis Parameters 2147483647 0 ...
Page 192
... If the movement of workpiece per motor rotation is [6 mm], and you want to set 1 motor rotation for a position command of [600] (a command unit of [0.01 mm],) set [6] under [Work Travel Distance Per Motor Rotation] and select [2: 100 times] under this [Unit Multiplier]. 5-31 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) ...
Page 193
... Starting Present Position Clear Enable Setting Select the function that presets the present position the start of the positioning function. For details on the starting preset setting, refer to "Present Position Preset" on page 4-36. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) 5-3 Axis Parameters Position command ...
Page 194
... Adjustment operations include JOG operation, inching operation and MPG operation. *2. This setting range is based on the pulse unit. 5-33 Function Setting range * −2147483647 to 2147483646 −2147483647 to 2147483646 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit values − 0 Command −2147483647 *2 unit Command 2147483646 *2 unit ...
Page 195
... Depending on [Command Position Unit Setting], an overflow or underflow may occur even if the command value is within the above range of −2147483647 to 2147483646. Take note that the number of pulses must not exceed the setting range. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Forward direction limit Software movement range ...
Page 196
... Function Setting range −2147483648 to 2147483647 −2147483648 to 2147483647 −2147483648 to 2147483647 −2147483648 to 2147483647 −2147483648 to 2147483647 −2147483648 to 2147483647 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit values − 0 Command 0 unit *1 Command 0 unit *1 − 0 Command 0 unit *1 Command 0 unit *1 − ...
Page 197
... Present position Present position Present position Zone Memory 0 area Precautions for Correct Use In the LINEAR mode, an error occurs if you set the lower limit value greater than the upper limit. CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Zone forward direction set value Forward direction 1 0 ...
Page 198
... Set the amount of movement in interrupt Amount feeding. *1.This setting range is based on the pulse unit. 5-37 Function Setting range −2147483648 to 2147483647 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Zone forward direction set value Zone reverse direction set value Default Unit values − 0 − 0 ...
Page 199
... Origin Search Select the starting direction of Origin Search. Start Direction 0: Forward direction, 1: Reverse direction Origin Input Select the origin input detecting direction Detecting during Origin Search. Direction 0: Forward direction, 1: Reverse direction CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Function Setting range 5-3 Axis Parameters ...
Page 200
... Search Start Direction" on page 4-21. 5-39 Function Setting range 0 to 10,000 0 to 2147483647 −2147483648 to 2147483647 −2147483648 to 2147483647 1 to 4000000 1 to 4000000 1 to 4000000 0 to 250,000 0 to 250,000 CJ Position Control Units OPERATION MANUAL (CJ1W-NC214/234/414/434) Default Unit values ms 100 Command 10000 *2 unit Command 0 unit *2 Command 0 unit *2 ...