SYSMAC CJ-series Position Control Unit with MECHATROLINK-II interface

CJ1W-NC 71

CSM_CJ1W-NC_71_DS_E_3_1
Decrease TCO with Simple Operation, Reduced Wiring, Batch Settings, and Batch Management
Control Servos for up to 16 axes in a motion network with one Position Control Unit that supports MECHATROLINK-II.
* MECHATROLINK-II is a registered trademark of the MECHATROLINK Members Association.

CJ1W-NCF71

Features
Even Smaller Positioning of up to 16 axes can be controlled with a body the size of one CJ-series Unit. The compact body provides a perfect fit to meet the need for downsizing of equipment for multi-axis control. Single-cable Connection with Flexible Wiring Placement With MECHATROLINK-II, connecting to the Servo Drive is easy. Just use a single cable (2-core shielded twisted-pair cable). Reduced wiring, with a total cable length of 50 m (or 30 m for 16 axes), allows more freedom in constructing systems. Less Time Spent on Startup and Maintenance Servo parameters can be set from the PLC. This means that settings and adjustments can be performed from one location rather than having to connect to each Servo Drive separately. Simple Expansion An easily expandable system can be constructed that is just as efficient now with a few axes or later with up to 16 axes. Linked Operation of Multiple Axes with MA Functionality The addition of an Interpolation Compensation Axis Stop Mode Setting and Interaxial Allowance Deviation Setting to linear interpolation compensation enables easier setting of linked operation between axes.

System Configuration

Programmable Terminals NS-series
Using the CX-Motion-NCF allows all parameters, including Servo Drive parameters, to be transferred at one time.
RS-232C Communications (NT Link)
Programmable Controller SYSMAC CJ-series
Position Control Unit CJ1W-NC 71

16 axes max.

16 axes max., overall cable length: 100 m(When repeater is used)

100m max.

SMARTSTEP Junior
AC Servo Drives with Built-in MECHATROLINK-II Communications (R7D-ZN -ML2)

Sensors

(limit inputs, origin proximity inputs, etc.)

AC Servo motor(R7M-Z)

OMNUC G5 series
AC Servo Drive with Built-in MECHATROLINK-II Communications (R88D-KN -ML2) AC Servo motor(R88M-K)

OMNUC G series

AC Servo Drive with Built-in MECHATROLINK-II Communications (R88D-GN -ML2)

OMNUC W series

AC Servo Drives with Built-in MECHATROLINK-II Communications (R88D-WN -ML2)

AC Servo motor(R88M-G)

AC Servo motor(R88M-W)
Connect an FNY-W6022 Terminator to the device at the end of the MECHATROLINK-II network.

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.

CJ-series Units

Unit type Product name Specifications Control output interface Position Control Unit with MECHATROLINK-II interface Current No. of unit numbers consumption (A) No. of axes allocated 5V 24 V 2 Control commands executed by MECHATROLINK-II synchronous communications. Direct operation by ladder programming. Control mode: Position control, speed control, or torque control Model Standards

CJ1W-NC271

16 0.36 ---
CJ1W-NC471 UC1, CE CJ1W-NCF71

CJ1 CPU Bus Units

CJ1W-NCF71-MA

Support Software

Product name Specifications 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), Vista or 7 Note: Except for Windows XP 64-bit version CX-One Ver. 4. includes CX-Motion-NCF Ver. 1. For details, refer to the CX-One catalog (Cat. No. R134). Number of licenses Media Model Standards
FA Integrated Tool Package CX-One Ver. 4.

1 license *1

DVD *2

CXONE-AL01D-V4

*1. Multi licenses are available for the CX-One (3, 10, 30, or 50 licenses). *2. The CX-One is also available on CD (CXONE-AL@@C-V4).
MECHATROLINK-related Devices and Cables (Manufactured by Yaskawa Corporation)
Name MECHATROLINK-II Interface Unit For W-series Servo Driver 0.5 m 1.0 m 3.0 m MECHATROLINK-II Cables (with ring core and USB connector on both ends) 5.0 m 10.0 m 20.0 m 30.0 m MECHATROLINK-II Terminating Resistor MECHATROLINK-II Repeater Terminating resistance Communications Repeater OMRON model number FNY-NS115 FNY-W6003-A5 FNY-W6003-01 FNY-W6003-03 FNY-W6003-05 FNY-W6003-10 FNY-W6003-20 FNY-W6003-30 FNY-W6022 FNY-REP2000 Yaskawa model number JUSP-NS115 JEPMC-W6003-A5 JEPMC-W6003-01 JEPMC-W6003-03 JEPMC-W6003-05 JEPMC-W6003-10 JEPMC-W6003-20 JEPMC-W6003-30 JEPMC-W6022 JEPMC-REP2000
Note: MECHATROLINK-related Devices and Cables are manufactured by Yaskawa Corporation, but they can be ordered directly from OMRON using the OMRON model numbers. (Yaskawa-brand products will be delivered even when they are ordered from OMRON.)

Accessories

Mountable Racks
CJ system (CJ1, CJ2) Model CJ1W-NC 71 (-MA) CPU Rack Expansion Backplane CP1H system CP1H PLC 2 Units NSJ system NSJ Controller Not supported Expansion Backplane 10 Units
16 Units max. (10 per Rack)
* A CP1W-EXT01 CJ Unit Adaptor is required.

Specifications

General Specifications
Item Model Internal current consumption Dimensions Weight Ambient operating temperature Approved standards CJ1W-NC271/471/F71 (-MA) 360 mA max. at 5 V DC 65 mm (W H D) 95 g max. 0 to 55C CE, cULus, and C-tick Specifications

Specifications not listed above conform to general CJ Series specifications.
Functions and Specifications
Item Unit classification Applicable PLCs Possible unit number settings Common Operating Memory Area I/O allocations Axis Operating Memory Area CPU Bus Unit CJ Series 0 to F Words allocated in CPU Bus Unit Area: 25 words (15 output words, 10 input words) Allocated in one of the following areas (user-specified): CIO, Work, Auxiliary, Holding, DM, or EM Area. Number of words allocated: 50 words (25 output words, 25 input words) Highest axis No. used OMRON G5-series Servo Drives (Built-in MECHATROLINK-II communications) OMRON G-series Servo Drives (Built-in MECHATROLINK-II communications) OMRON W-series Servo Drives (equipped with MECHATROLINK-II Interface Unit or built-in MECHATROLINK-II communications) OMRON SMARTSTEP Junior Servo Drives (Built-in MECHATROLINK-II communications) Control commands executed using MECHATROLINK-II synchronous communications. CJ1W-NC271: 2 axes, CJ1W-NC471: 4 axes, CJ1W-NCF71: 16 axes Command unit: Depends on the Electronic Gear Setting in the Servo Parameters. Default setting: Pulses Command units/s 10,000 command units/s2 0.001% of the motor's momentary maximum rotation speed 0.001% of the motor's momentary maximum torque -2,147,483,648 to 2,147,483,647 (command units) Specifications

Compatible devices

Control method Maximum number of controlled axes Position command unit Speed command unit for position control Control units Acceleration/deceleration speeds for position control Speed command unit for speed control Torque command unit for torque control Position command range
Speed command range for posi0 to 2,147,483,647 (command units/s) tion control Control command range Acceleration/deceleration speeds for position control Speed command range for speed control Torque command range for torque control Servo lock/unlock Position control 1 to 65,535 (10,000 command units/s2) -199.999% to 199.999% The upper limit of the speed command range depends on the specifications of the Servo Drive. -199.999% to 199.999% The upper limit of the torque command range depends on the specifications of the Servo Drive. Creates (Servo lock) or releases (Servo unlock) the position loop on the PCU. Positions to an absolute position or relative position according to the target position and target speed specified from the ladder program. Origin search: Establishes the origin using the specified search method. Present position preset: Changes the present position to a specified position to establish the origin. Origin return: Returns the axis from any position to the established origin. Absolute encoder origin: Establishes the origin using a Servomotor that has an absolute encoder, without having to use an origin search.

Origin determination

Control functions
Jogging Interrupt feeding Speed control Torque control Stop functions
Outputs pulses at a fixed speed in the forward rotation or reverse rotation direction. Performs positioning by moving the axis a fixed amount when an external interrupt input is received while the axis is moving. Performs speed control by sending a command to the Servo Drive speed loop. Performs torque control by sending a command to the Servo Drive current loop. Deceleration stop: Decelerates the moving axis to a stop. Emergency stop: Positions the moving axis for the number of pulses remaining in the deviation counter and then stops the axis.
Item Acceleration/deceleration curves Torque limit Override Auxiliary functions Servo parameter transfer Monitoring function Software limits Backlash compensation Deviation counter reset Position Control Unit External I/O Servo Drive I/O
Specifications Sets one of the following: a trapezoidal (linear) curve, an exponential curve, or an S-curve (moving average). Restricts the output torque during axis operation. Multiplies the axis command speed by a specified ratio. Override: 0.01% to 327.67% Reads and writes the Servo Drive parameters from the ladder program in the CPU Unit. Monitors the control status of the Servo Drive, such as the command coordinate positions, feedback position, current speed, and torque. Limits software operation within the positioning range during position control. Compensates for the amount of play in the mechanical system according to a set value. The position deviation in the Servo Drives deviation counter can be reset to 0 (unit version 1.3 or later). One MECHATROLINK-II interface port Forward/reverse rotation limit inputs, origin proximity inputs, external interrupt inputs 1 to 3 (can be used as external origin inputs) Watchdog, flash memory check, memory corruption check Overtravel, Servo Drive alarm detection, CPU error, MECHATROLINK communications error, Unit setting error
Self-diagnostic functions Error detection functions

* SMARTSTEP Junior Servo Drive are supported by Position Control Units with unit version 2.0 or later.
MECHATROLINK Specifications
Item Communications protocol MECHATROLINK-II Baud rate Maximum transmission distance Minimum distance between stations Transmission media Maximum No. of stations Topology Transfer cycle Communications method Encoding Data length 10 Mbps 50 m 1 0.5 m Shielded, twisted-pair cables 30 slave stations max. 2 Bus 250 s to 8 ms Master-slave, totally synchronous Manchester encoding 17 bytes/32 bytes selectable 3 Specifications
*1. This distance is the total length of the cable connected between devices. However, the maximum length depends on the number of devices connected and whether Repeaters are used. *2. Up to 16 devices can be connected to the CJ1W-NCF71 (-MA), up to 2 devices can be connected to the CJ1W-NC271, and up to 4 devices can be connected to the CJ1W-NC471. *3. The PCU data length is fixed at 32 bytes.

External Interface

CJ1W-NC 71 (-MA)

MLK RUN ERC ERH ERM

LED Indicators Indicate the PCU's operating status.

UNIT No.

Unit Number Setting Switch Sets the PCU's unit number.

LED Indicators

LED RUN Run Name Color Green Status Lit Not lit Lit ERC Unit Error Red Flashing Not lit ERH CPU Unit Error Red Lit Not lit Lit ERM MECHATROLINK Device Error MECHATROLINK Communications Status Red Flashing Not lit MLK Yellow Lit Not lit The PCU is operating normally. Other condition A fatal error has occurred in the PCU and operation cannot continue. A non-fatal error has occurred in the PCU and operation can continue. Other condition An error has occurred in the PLC. Other condition An error has occurred in MECHATROLINK communications. An error has occurred in a connected MECHATROLINK device. Other condition MECHATROLINK communications in progress MECHATROLINK communications stopped Details
MECHATROLINK-II Communications Connector Connects to the MECHATROLINK-II Connection Cable.
Functions Supported According to Position Control Unit Versions
Model Linear interpolation Absolute encoder setup function Deviation counter reset Establishing connections even when there are unconnected axes or axes with alarms that cannot be cleared Transferring servo parameters even when there is an axis error Creating servo locks during software limit detection when an absolute encoder is used Driver main circuit OFF error detection only when the servo is locked Using Holding Area address H512 and onwards for function block address allocations Addition of supported models: SMARTSTEP Junior Servo Drives (R7D-ZN -ML2) Addition of rejoin function Eliminating connection restriction when Servo Drive alarms occur (enabling connection when alarm A.C90 occurs) Addition of origin search operation modes Addition of origin search preset function Faster setting for transfer cycle and communications cycle when setting the absolute encoder PG zero point position offset with an origin search CJ1W-NC 71 (-MA) Unit Ver. 1.0 ----------------------------Unit Ver. 1.1 Supported. --------------------------Unit Ver. 1.2 Supported. Supported. ------------------------Unit Ver. 1.3 Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. ------------Unit Ver. 2.0 Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. --Unit Ver. 2.1 Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported. Supported.

Dimensions

CJ1W-NC271 CJ1W-NC471 CJ1W-NCF71 CJ1W-NCF71-MA

31 2.7

(Unit: mm)

D BC E

Related Manuals
Engilsh Cat.No. W426 W436 ----Japanese Cat.No. SBCE-323 SBCE-328 SBCE-055 SBCE-042 Model CS1W-NC 71/ CJ1W-NC 71(-MA) CXONE-AL CXONE-AL C-V / D-V Name CS1W/CJ1W-NC 71(-MA) CS/CJ-series MECHATROLINK-II-compatible Postion Controll Unit User's Manual CX-Motion-NCF Operation Manual CS1W-NCF71/CJ1W-NCF71 Position Controll Unit(ONNUC G-series)Technical Guide CS1W-NCF71/CJ1W-NCF71 Position Controll Unit(ONNUC W-series)Technical Guide
CS1W-NCF71/CJ1W-NCF71 CS1W-NCF71/CJ1W-NCF71
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.
Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS 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 OR REPAIR.
Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use. The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this catalog. Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations. Systems, machines, and equipment that could present a risk to life or property. Please know and observe all prohibitions of use applicable to the products. NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS 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.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

Disclaimers

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 model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRONs test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

ERRORS AND OMISSIONS

The information in this document has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
2011.4 In the interest of product improvement, specifications are subject to change without notice.
Industrial Automation Company

http://www.ia.omron.com/

OMRON Corporation
(c)Copyright OMRON Corporation 2011 All Right Reserved.

4 DEC POT Origin proximity input Forward drive inhibit input Emergency stop input EXT1 External latch signal 1 input Reverse drive inhibit input +24 VDC control power supply input Output ground common ------10 ---------

11 ---

13 BKIR
Brake inter- 12 ALM lock output 14 ---
(1) Do not connect unused pins.
(2) Connect the shield in the control I/O signal cable to the connector hood. At the Servo Drive connector, connect it to the FG (Frame ground).

CN1 Connector (14 Pins)

Pin No. 1 Signal EXT1
The names and functions of Servo Drive control I/O signals are given in the following table.
Name External latch signal 1 input
Function/interface An external interrupt input signal. Use as an external interrupt signal for interrupt feeding or as external origin input signal for origin searches. The signal is valid when ON. The origin proximity input signal for origin searches. The signal is valid when ON. The limit input in the reverse direction. This input operates as follows (i.e., like a NC contact): OFF: Drive prohibited, ON: Drive enabled The limit input in the forward direction. This input operates as follows (i.e., like a NC contact): OFF: Drive prohibited, ON: Drive enabled The +24 VDC input terminal for the control input power supply. An external input signal used to stop power supply to the motor. This input is used when an error occurs to unlock the Servo from a host controller. This input operates as follows (i.e., like a NC contact): OFF: Power to motor stopped (Servo cannot be locked). ON: Power can be supplied to motor (Servo can be locked).

Control mode Position

Origin proximity input
Reverse drive inhibit input
Forward drive inhibit input

+24VIN STOP

+24-V power supply input for control DC Emergency stop input

Control Input Circuits

Servo Drive 3.3 k External power supply 241 VDC Power supply capacity 50 mA max. (per Unit) 5 EXT 1 Minimum ON time: 40 ms To ground common for other input circuit Other input circuit 3.3 k Photocoupler input: 7 mA at 24 VDC
Signal Levels: ON: (+24 VIN 11) V min. OFF: (+24 VIN 1) V max.
(1) If the limit input signal inputs (Servo Drive's forward drive prohibited signal and reverse drive prohibited signal) are not allocated, the Servo Drive will not stop the Servomotor when the signal is input, and the Position Control Unit will also not detect limit inputs as errors. When using a Position Control Unit, always allocate the Servo Drive's forward drive prohibited signal and reverse drive prohibited signal to enable use of the limit input signals. (Refer to 6-4 Standard Settings for Servo Drives Using MECHATROLINK.) (2) The signal width of the limit input signals (forward drive prohibited signal and reverse drive prohibited signal) and origin proximity input signal (origin return deceleration limit switch) must be longer than the MECHATROLINK communications cycle. If the input signal width is shorter than the communications cycle, the Position Control Unit will be unable to detect the input signal. (3) When selecting a sensor for the origin proximity input signal (origin return deceleration LS), use a sensor such as a Photoelectric Sensor, which does not have chattering, because the origin signal is detected after the input goes from ON to OFF during the origin search. If a switch with contacts is used, the origin position may shift due to the switch contact's chattering. (4) The SMARTSTEP Junior Servo Drive's emergency stop input stops the Servomotor using software processing. If required for system safety, add a safety circuit in an external circuit.

Pin No. 13 Shell Signal 0GND ALM BKIR FG Name Output ground common Alarm output Brake interlock output Frame ground Function/interface The ground common for control output signals. Control mode All modes
Turns OFF when an alarm occurs in the All modes Servo Drive. Output as a timing signal for a holding brake All modes when the Servo is locked or unlocked. The connection point for the cable shield All modes and FG line.
Maximum applicable voltage: 30 VDC Maximum output current: 50 mA

Di 7 0GND

External power supply: 241 VDC
Di: Diode to suppress surge voltage (Use a high-speed diode.)

Wiring

Section 3-4
This section provides examples of the connections between the PCU and Servo Drive as well as the Servo Drive's control I/O connections.
MECHATROLINK-II Communications Wiring
Use the special MECHATROLINK-II Connection Cable to connect the PCU and Servo Drive (MECHATROLINK-II Application Module).

Connection Cable

Use the following cables (made by Yaskawa Electric) to connect MECHATROLINK-II devices.
Name MECHATROLINK-II Connection Cable (USB connectors and ferrite cores on both ends) Model number JEPMC-W6003-A5 JEPMC-W6003-01 JEPMC-W6003-03 JEPMC-W6003-05 JEPMC-W6003-10 JEPMC-W6003-20 JEPMC-W6003-30 Cable length 0.5 m 1.0 m 3.0 m 5.0 m 10 m 20 m 30 m Manufacturer Yaskawa Electric Corporation

Terminators

Make sure to connect the following Terminator at the end of the MECHATROLINK-II communications line.
Name MECHATROLINK-II Terminator Model number JEPMC-W6022 Manufacturer Yaskawa Electric Corporation

Repeaters

The wiring distance for the MECHATROLINK-II can be extended to a maximum of 100 m by using Repeaters.
Name MECHATROLINK-II Repeater Model number Manufacturer JEPMC-REP2000 Yaskawa Electric Corporation
MECHATROLINK-II Connection Cables and Terminators can be ordered from OMRON with the following model numbers.
Yaskawa Electric Co. model number JEPMC-W6003-A5 MECHATROLINK-II Connection Cable (USB connectors and ferrite JEPMC-W6003-01 cores on both ends) JEPMC-W6003-03 JEPMC-W6003-05 JEPMC-W6003-10 JEPMC-W6003-20 JEPMC-W6003-30 MECHATROLINK-II Terminator JEPMC-W6022 MECHATROLINK-II Repeater JEPMC-REP2000 Name OMRON model number FNY-W6003-A5 FNY-W6003-01 FNY-W6003-03 FNY-W6003-05 FNY-W6003-10 FNY-W6003-20 FNY-W6003-30 FNY-W6022 FNY-REP2000
Wiring MECHATROLINK-II Communications Connections
The following example shows a PCU connected with several Servo Drives with the MECHATROLINK-II Connection Cables.
MECHATROLINK-II Connection Cable Length

Terminator

When not using Repeaters, the maximum total length of the Connection Cable (L1 + L2 +. + Ln) is 50 m when using fewer than 16 axes or 30 m when using 16 axes. The maximum total length of the Connection Cables depends on the number of MECHATROLINK devices (Servo Drives) being connected, as shown in the following table.

Axis Parameters Overview

Axis Parameters are transferred to the PCU's internal memory using the data transfer command and saved in the PCU's flash memory using the SAVE DATA command. Turn ON the power to the CPU Unit again, or restart the PCU to read the Axis Parameters saved in flash memory to the PCU's internal memory. The Axis Parameters can be changed at any time by sending the WRITE DATA command to the PCU. The changed parameters are enabled as soon as the data has been written without any errors. The addresses in the PCU's internal memory allocated for Axis Parameters are determined by the axis number of each axis using the following equation. Beginning word of Axis Parameter Area for Axis N: d = 1860 hex + (N1) 14 hex (N = 1 to 16) The following table lists the beginning word of each Axis Parameter Area.
Axis No. Axis 1 Axis 2 Axis 3 Axis 4
Beginning word d 1860 hex 1874 hex 1888 hex 189C hex
Axis No. Axis 5 Axis 6 Axis 7 Axis 8
Beginning word d 18B0 hex 18C4 hex 18D8 hex 18EC hex
Axis No. Axis 9 Axis 10 Axis 11 Axis 12
Beginning word d 1900 hex 1914 hex 1928 hex 193C hex
Axis No. Axis 13 Axis 14 Axis 15 Axis 16
Beginning word d 1950 hex 1964 hex 1978 hex 198C hex
PCU's Contents Setting address 15 to to to to 00 d Origin input signal selection Interrupt input sigSelect the origin input signal and interrupt input nal selection signal. 00: Phase Z (default setting) 01: External latch signal 1 input 02: External latch signal 2 input 03: External latch signal 3 input d+(fixed) Origin Origin Origin Origin 0 (fixed) Set the origin search operation. search search detection search Origin search direction preset direction method operation 0: Reversal mode 1 (default setting) 1: Reverse mode 2 2: Single-direction mode 3: Reversal mode 3 (See note.) Origin detection method (See note.) 0: With origin proximity input signal reversal (default setting) 1: Without origin proximity input signal reversal 2: Not use origin proximity input signal Origin search direction 0: Forward (default setting) 1: Reverse Origin search preset (See note.) 0: Not Set (default setting) 1: Set d+(fixed) 0 (fixed) 0 (fixed) Encoder 0: Incremental encoder (default setting) type 1: Absolute encoder
The reversal mode 3 setting for the origin search operation, the origin detection method, and the origin search preset can be used only with Position Control Units with unit version 2.0 or later. They cannot be used with Position Control Units with unit version 1.3 or earlier. For details on transferring data, refer to SECTION 5 Transferring and Saving Data.

Moves in the positive Decelerates to a direction and stops*1 stop, reverses, then moves in the negative direction and stops Moves in the negative direction and stops*1 Decelerates to a stop, reverses, then moves in the positive direction and stops
*1. Reverses after decelerating to a stop if the final travel distance for origin return is short in comparison to the deceleration distance. Pn205 Electronic Gear Ratio 1 (Numerator) 4 Sets the numerator for the electronic gear ratio. Setting this parameter to 0 automatically sets the encoder resolution as the numerator. (131072 for a 17-bit absolute encoder, or 10000 for a 2,500-p/r incremental encoder). Note Set the electronic gear ratio within the range of 1/100 to 100 times. A parameter setting alarm (alarm code 93) will occur if the ratio is set outside of this range. Sets the denominator for the electronic gear ratio. Note Set the electronic gear ratio within the range of 1/100 to 100 times. A parameter setting alarm (Alarm code 93) will occur if the ratio is set outside of this range. Do not change. Do not change. Sets the deviation counter overflow level. The value will become saturated at 134217728 (= 227) pulses after multiplying with the electronic gear ratio. Setting this parameter to 0 will disable deviation counter overflow. --Do not change. --0 to 131072 Offline
Electronic Gear Ratio 2 (Denominator) Reserved Reserved Deviation Counter Overflow Level Reserved

Pn207 Pn208 Pn209

----Command units

----0 to 2147483647

----Online

Pn20A to Pn21F

W-series Servo Drives (R88D-WT@ with JUSP-NS115)
The Servo Parameters listed here can be used when the Position Control Unit is used with an OMRON W-series Servo Drive (R88D-WT@) with a Yaskawa MECHATROLINK-II Application Module (JUSP-NS115). For further details on each of the parameters, refer to the users manuals for W-series Servo Drives and MECHATROLINK-II Application Modules (JUSPNS115). The default settings for parameters Pn000 to Pn601 in the parameter tables for the R88D-WT@ W-series Servo Drive used with the JUSP-NS115 are automatically set to the default parameter settings for when the JUSP-NS115 MECHATROLINK-II Application Module is mounted to a W-series Servo Drive. Parameters from Pn800 onwards are enabled when the JUSP-NS115 is mounted. The parameter names and default settings for these parameters follow those specified by the JUSP-NS115. The timing for Servo Parameters to be enabled are classified into the following two types. Online (online parameter): Changed settings are enabled immediately after Servo Parameters have been written.

Function to be executed (See note.) DEVIATION COUNTER RESET PRESENT POSITION PRESET

ABSOLUTE MOVEMENT

DECELERATION STOP

TORQUE CONTROL

SPEED CONTROL

ORIGIN SEARCH

ORIGIN RETURN

SERVO UNLOCK

DEVICE SETUP
Executing function SERVO UNLOCK Bit ON DEVIATION COUNTER RESET Bit ON EMERGENCY STOP Bit ON DECELERATION STOP Bit ON Other than above status

--------

: Execution possible : A servo unlock error (axis error code: 3040) will occur and the function will not be executed. ---: Execution not possible (ignored)

SERVO LOCK

Note: The above table assumes that the conditions required for executing jogging, origin searches, origin returns, absolute/relative movements (including interrupt feeding), speed control, or torque control, such as command values and origin establishment, have been met. Servo Locked
DEVICE SETUP DEVICE SETUP -------
Executing function DEVIATION COUNTER RESET Bit ON EMERGENCY STOP Bit ON DECELERATION STOP Bit ON Other than above status

------

: Execution possible : A multistart error (axis error code: 3050) will occur and the function will not be executed. ---: Execution not possible (ignored) Note: The above table assumes that the conditions required for executing jogging, origin searches, origin returns, absolute/relative movements (including interrupt feeding), speed control, or torque control, such as command values and origin establishment, have been met.
When Position Control Unit Is Executing a Function (When Busy Flag = 1)
The operation that is performed for each command when the Position Control Unit is already executing a function is shown below depending on the Servo locked/unlocked status and the ON/OFF status of axis operating output bits.
Executing function SERVO UNLOCK DEVIATION COUNTER RESET EMERGENCY STOP

DEVICE SETUP -- --

Executing function DECELERATION STOP JOG ORIGIN SEARCH ORIGIN RETURN POSITION CONTROL (ABSOLUTE MOVEMENT) POSITION CONTROL (RELATIVE MOVEMENT) INTERRUPT FEEDING SPEED CONTROL TORQUE CONTROL PRESENT POSITION PRESET DEVICE SETUP SERVO LOCK

--

---- -----

-----

-- -----

---- --

-- --

------------------ --

Executing Multiple Functions Simultaneously
The following table shows the PCU operations when multiple functions are executed at the same time for the same axis during a servo lock (including executing other functions while the Receiving Command Flag is ON.
Function SERVO UNLOCK Operation for simultaneous execution Takes priority over any other function executed at the same time. All other operations are disabled while the SERVO UNLOCK Bit is ON. Takes priority over any other function executed at the same time except for SERVO UNLOCK. The following functions will not be started while the DEVIATION COUNTER RESET Bit is ON. Executed before any other function executed at the same time, except SERVO UNLOCK or DEVIATION COUNTER RESET. All other operation functions are disabled while the EMERGENCY STOP Bit is ON.

Speed Target speed Speed Conformity Signal Output Width Feedback speed Time Speed Conformity Flag The Speed Conformity Flag turns ON when the feedback speed is within the Speed Conformity Signal Output Width for the target speed.
Refer to 10-5-2 Starting Speed Control.
Axis Operating Input Memory Areas Distribution Completed Flag (during Position Control) Zero Speed Flag (during Speed Control)

Word Bit Function b+1 08

The function of these flags depends on whether position control or speed control is being used. During Position Control: Distribution Completed Flag This flag turns ON when the command position reaches the target (stop) position (When sending the position control command to Servo Drive is completed). 0: Sending the position control command to Servo Drive. 1: Sending the position control command to Servo Drive completed.
Time Distribution Completed Flag
During Speed Control: Zero Speed Flag (G-series Servo Drives and Wseries Servo Drives Only) This flag turns ON when the feedback speed during speed control drops below the Servo Parameter Rotation Speed for Motor Rotation Detection (Pn062 for R88D-GN@ and Pn502 for R88D-W@). 0: Not at zero speed 1: Detecting zero speed
Speed Feedback speed Rotation Speed for Motor Rotation Detection Time Zero Speed Flag The Zero Speed Flag turns ON when the feedback speed is lower than the Rotation Speed for Motor Rotation Detection.
Axis Operating Input Memory Areas Torque Limit Status Flag

Word Bit Function b+1 09

This flag turns ON when the Servomotor's output torque is limited by the torque limit. For W-series Servo Drives, the torque limit will be the lowest among all the limit values that are enabled for the torque limits specified in Forward Torque Limit (Pn402), Reverse Torque Limit (Pn403), Forward Rotation External Current Limit (Pn404), Reverse Rotation External Current Limit (Pn405), or in the option command value for speed control. For G-series Servo Drives, the torque limit will be the lowest among all the limit values that are enabled for the torque limits specified in No.1 Torque Limit (Pn05E), No.2 Torque Limit (Pn05F), or in the option command value for speed control. 0: Torque limit function disabled 1: Torque limit function enabled
Refer to 10-4 Torque Limits.
Positioning Proximity Flag (during Position Control) Speed Limit Status Flag (during Torque Control)
Word Bit Function b+The function of these flags depends on whether position control or torque control is being used. During Position Control: Positioning Proximity Flag This flag turns ON when the feedback position is within the range for Servo Parameter Positioning Completion Range 2 (Pn504 for R88D-WT@ and Pn524 for R88D-WN@-ML2 and SMARTSTEP Junior) for the target (stop) position. 0: Outside Positioning Completion Range 2 1: Within Positioning Completion Range 2 During Torque Control: Speed Limit Status Flag This flag turns ON when the feedback speed during torque control is limited by the Servo Parameter Speed Limit (Pn407), or option command value. 0: Speed limit function disabled 1: Speed limit function enabled Details Refer to 10-6-2 Starting Torque Control.

Data writing starts when the WRITE DATA Bit in the Common Operating Memory Area turns ON. When writing data to the PCU, make sure the WRITE DATA Bit remains ON until the Data Transferring Flag turns ON. Up to 600 words can be transferred during a single data write operation. The maximum amount of data that can be transferred during a single CPU Unit cycle, however, is 20 words. When more than 20 words of data are transferred, the data is divided and WRITE DATA is executed over multiple cycles. When writing data to the PCU is completed, the Data Transferring Flag turns OFF. Common Operating Memory Area (Output)
Name WRITE DATA Bit Number of write words Write source area Write source word Word n n+6 Bit 01 --Contents 0 1: Starts writing data. Specifies the number of words to be written to the PCU. Up to 600 words can be transferred. Specifies the area of the data to be written to the PCU. The type of area set as the write source area is specified by specifying the beginning word of the area in the write source word in hexadecimal. Write source area: 00B0 hex: CIO Area 00B1 hex: Work Area 00B2 hex: Holding Area 00B3 hex: Auxiliary Area 0082 hex: DM Area 005@ hex: EM Area @: EM bank No.= 0 to 9, A, B, C Specifies the write destination address in the PCU.

n+7 n+8

Write destination address
n = CIO 1500 + (unit number 25) Common Operating Memory Area (Input)
Name Data Transferring Flag Unit Busy Flag Word n+15 Bit 14 Contents 0: Powerup, transfer completed, or transfer failed 1: Transferring data 0: PCU is not busy 1: PCU is busy
n = CIO 1500 + (unit number 25) The following diagram shows the operation for writing data to the PCU.
Common Operating Memory Area n = CIO 1500 + (Unit No. 25) Word n CPU Unit

Data written.

000C hex 0082 hex 03E8 hex 1838 hex 14
Write destination address (1838 hex) No. of write words (12 words) Write source area (D01000)
Word n+6 Word n+7 Word n+8 Word n+9

Word n+15

Writing Servo Parameters during Origin Searches for Position Control Units with Unit Version 2.0 or Later
WRITE SERVO PARAMETER Bit (word a+1, bit 12)
Servo Parameter Transferring Flag (word b, bit 14) Busy Flag (word b, bit 13)
When using Position Control Units with unit version 2.0 or later, any Servo parameter write operations specified during an origin search will be performed after the origin search has been completed.
Origin search operation in progress
Origin search operation completed
When writing a Servo Parameter is completed, the Servo Parameter Transferring Flag (word b, bit 14) turns OFF. If an error occurs during Servo Parameter transfer, the Error Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the corresponding axis error (warning) code is input in word b+4 of the Axis Operating Input Memory Area. Check the error code and perform appropriate troubleshooting. Note With PCUs of unit version 1.2 or earlier, WRITE SERVO PARAMETER cannot be executed when an axis error has occurred. WRITE SERVO PARAMETER will be ignored if it is executed when an axis error has occurred. With PCUs of version 1.3 or later, WRITE SERVO PARAMETER can be executed even when an axis error has occurred. When the parameters are transferred, however, the Error Flag can no longer be used to determine if an error has occurred during the transfer. It is thus necessary to write Servo Parameters after resetting the error or, if parameters are written when there is an axis error, then steps must be taken to confirm that the parameters were transferred correctly.

Reading Servo Parameters

Servo Parameters are read to the CPU Unit using the READ SERVO PARAMETER Bit in the Axis Operating Output Memory Area. Specify the parameter number and parameter size (data length) in the Axis Operating Output Memory Area and execute READ SERVO PARAMETER. The read parameter will be input in the Read data word of the Axis Operating Input Memory Area. One execution of READ SERVO PARAMETER transfers one parameter for each axis. To transfer multiple parameters, READ SERVO PARAMETER must be executed separately for each parameter. Parameters for different axes can also be read at the same time. Note Execute READ SERVO PARAMETER when the Servo Parameter Transferring Flag for the corresponding axis is OFF. If READ SERVO PARAMETER is executed while a Servo Parameter is being transferred, a Multistart Error (axis error code: 3050) will occur and the Servo Parameter will not be read. Servo Parameter reading starts when the READ SERVO PARAMETER Bit in the Axis Operating Output Memory Area turns ON. When executing READ SERVO PARAMETER, make sure that the READ SERVO PARAMETER Bit remains ON until the Servo Parameter Transferring Flag turns ON.

Speed Speed command value
Second-step linear acceleration constant
First-step linear acceleration constant
First-step linear deceleration constant
Second-step linear deceleration constant
To operate an axis using only a first-step acceleration/deceleration curve with a W-series Servo Drive, only settings for the parameters Pn80B and Pn80E are required if the default settings (0) are used for the Servo Parameters Acceleration Constant Switching Speed and Deceleration Constant Switching Speed (Pn80C and Pn80F).
Unit for Acceleration/Deceleration Constants
The unit for the acceleration/deceleration filters set in the Position Control Unit is 10000 command units/s2 using the command unit determined by the electronic gear ratio in the Servo parameters. The setting of the command unit can cause the setting unit for the acceleration/deceleration constants to become imprecise or changes in the setting can greatly affect the size of accelerations/decelerations.
To create a more precise setting unit for accelerations/decelerations, increase the resolution of the command unit (i.e., increase the number of digits). Example If the command unit is 0.1 mm, the target speed is 1,000 mm/s (1,000.0 mm/s = 10,000 command units/s) and the target speed must be reached in 250 ms, the acceleration constant would be set to 4, as shown below. 1000 [command units/s]/250 [ms] = 40,000 [command units/s2] = 4 [10,000 command units/s2] If the acceleration constant is increased or decreased by only 1, the acceleration time required to reach the same target speed is greatly affected, as shown below: Acceleration constant = 3:10000 [command units/s]/3 [10,000 command units/s2] = 333 [ms] Acceleration constant = 5:10000 [command units/s]/5 [10,000 command units/s2] = 200 [ms] If the precision of the command unit is increased by 2 digits to 0.001 mm, the acceleration constant would be set to 400 to reach the same target speed of 1,000 mm/s (1000.000 mm/s = 1,000,000 command units/s) in the same time of 250 ms. 1,000,000 [command units/s]/250 [ms] = 4,000,000 [command units/s2] = 400 [10,000 command units/s2] If the acceleration constant is increased or decreased by 1, the acceleration time required to reach the same target speed is affected very little, as shown below: Acceleration constant = 399:1000000 [command units/s]/399 [10000 command units/s2] = 250.6 [ms] Acceleration constant = 401:1000000 [command units/s]/401 [10000 command units/s2] = 249.3 [ms]

Model R88D-GN@ML2 R88D-WT@ Parameter No. Pn060 Pn105 Pn500 Pn803 Parameter name Positioning completion range 1 Origin range Positioning completion range 1 Zero point width Unit Command unit Command unit Command unit Command unit Setting range 0 to to to to 250 Parameter size Default setting 3 10
Model R88D-WN@ML2 SMARTSTEP Junior Parameter No. Pn522 Pn803 Pn522 Pn803 Parameter name Positioning completion range 1 Zero point width Positioning completion range 1 Zero point width Unit Command unit Command unit Command unit Command unit Setting range 0 to to to to 250
Parameter size Default setting 10 10
Name ORIGIN RETURN Bit Speed command value Word a a+4 a+5 Bits 07 --Contents 0 1: Starts origin return operation Speed command value (rightmost word) Speed command value (leftmost word) Unit: Command units/s Command range: 1 to 2,147,483,647 (00000000 hex to 7FFFFFFF hex) The upper limit setting for the speed command value depends on the Servo Drive specifications. 1: Use exponential acceleration/ deceleration curve. G Series Supported Supported W Series Supported Supported SMARTSTEP Junior Supported Supported
Acceleration/deceleration curve designation
Exponential a+16 curve designation S-curve designation
Not supported Not supported Not supported Not supported
1: Use S-curve acceleration/decel- Supported eration curve. 1: Use forward torque limit 1: Use reverse torque limit Supported Supported
Forward rotation current limit Reverse rotation current limit
a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. 1) 25 Origin return is performed according to the speed command value set in the Axis Operating Output Memory Areas and started when the ORIGIN RETURN Bit turns ON. Execute ORIGIN RETURN when the Busy Flag for the corresponding axis is OFF. If ORIGIN RETURN is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORIGIN RETURN will not be executed. When starting ORIGIN RETURN, make sure that the ORIGIN RETURN Bit will remain ON until the Busy Flag turns ON. If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN RETURN command will be ignored. Be sure that all of these command bits are OFF before executing an origin return. The target speed for an origin return operation can be changed while ORIGIN RETURN is being executed by setting the new speed command value in the Axis Operating Output Memory Area. (For details on changing the target speed, which is the same as positioning operations, refer to 9-4-4 Changing Target Speed.) Torque limit during operation is possible with origin return operations. For further details on the torque limit function, refer to 10-4 Torque Limits.

CPU Unit E1_00000 to E1_00257 Parameter list PCU Read together
E1_01000 to E1_01511 Axis 1 Servo Parameter Backup
Axis 1 Servo Drive Servo Parameters
E1_02000 to E1_02511 Axis 2 Servo Parameter Backup
Axis 2 Servo Drive Servo Parameters

Written/Saved together

The Axis Operating Output/Input Memory Areas for axes 1 and 2 are based on the settings of the Common Parameter Area, as shown below. The application example in 11-3-1 Initial PCU Settings shows a sample program that can be used to make the following settings. Beginning word of Axis Operating Output Memory Area: CIO 0000 (Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024) (Axis 2 Operating Output Memory Area: CIO 0025 to CIO 0049) Beginning word of Axis Operating Input Memory Area: CIO 1000 (Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024) (Axis 2 Operating Input Memory Area: CIO 1025 to CIO 1049) This sample program uses the following parts of the CPU Unit's I/O memory. CPU Bus Unit Area CIO 1500 to CIO 1524 These word addresses are contained in the CPU Bus Unit Area words allocated to unit number 0. Data Memory Area (DM Area) Axis 1 Servo Parameter words: D10500 to D10503 Axis 2 Servo Parameter words: D10600 to D10603 These words are used to store the data required for a single Servo Parameter transfer, including the Servo Parameter number, parameter size, and transfer data (2 words). EM Area bank 1 Servo Parameter list: E1_00000 to E1_00257 Axis 1 Servo Parameter words: E1_01000 to E1_01511 Axis 2 Servo Parameter words: E1_02000 to E1_02511
When the Servo Parameters are being read, these EM words are used to store the parameter list read from the Servo Drive. These words are also used to store the Servo Parameters that were read and set the Servo Parameters that will be written. Index Registers (IR) IR6 to IR8 The Index Registers are used to reference the Servo Parameter list and reference the EM Area addresses that contain the parameter data being read/written. Work Area (WR Area) Write Axis 1 Servo Parameters: Read Axis 1 Servo Parameters: Save Axis 1 Servo Parameters: Write Axis 2 Servo Parameters: Read Axis 2 Servo Parameters: Save Axis 2 Servo Parameters: Batch transfer sequence stepping: W400.00 to W400.06 W401.00 to W401.06 W402.00 to W402.06 W410.00 to W410.06 W411.00 to W411.06 W412.00 to W412.06 W500.00 to W500.10

These Work Area bits are used to show the progress of function execution and the execution status. Holding Area (HR Area) Axis 1 Transfer Function Selection: H10.00 to H10.02 Axis 2 Transfer Function Selection: H11.00 to H11.02 These bits are used to select the Servo Parameter transfer function for each axis. The following table shows how the status of bits H10.00 to H10.02 and H11.00 to H11.02 specify the Servo Parameter transfer function in this sample program.
Transfer function Write Servo Parameter Read Servo Parameter Save Servo Parameter Axis 1 Axis 2 H10.00 H10.01 H10.02 H11.00 H11.01 H11.1
A different transfer function can be selected for each axis and executed for 2 axes simultaneously. Different transfer functions cannot be performed at the same time on a single axis. If bits 00 to 02 are all OFF or more than one bit is ON, the transfer function will not be executed for that axis. Also, when executing this sample program, always transfer the Servo Parameters for 2 axes. CIO 0510.00 is used as the Servo Parameter Batch Transfer Start Switch. Parameter List In this program, the parameter list for the Read Servo Parameters function is stored in the CPU Unit's EM Area as follows. The beginning words of the parameter list specify the parameter number and parameter size of each parameter. +0: Parameter number (hex) +1: Parameter size The parameter number and size are specified in order for all of the parameters being transferred. At the end of the parameter list, the parameter size is set to 0000 hex.
The following table shows a setting example for the parameter list in this program. The Servo Parameters listed here are for an OMRON W-series Servo Drive with a JUSP-NS115 MECHATROLINK-II Application Module mounted. All 256 parameter numbers and parameter sizes shown in the table in 4-5 Servo Parameter Area are included even if the parameters are not being used. When the two-word end code (0000 0000) at the end of the parameter list is included, a total of 256 words (including unused words) are used, from E1_00000 to E1_00257.

0 to Online 1073741823

10 to 2000 Online Online
0.1 V 10000 to 10000 0.1 V 10000 to 10000
Parameter No. Pn800 Parameter name Communications control Parameter size 2 Contents Digit No. 0 Name MECHA0 TROLINK communications check mask 1 Setting Explanation Detects both communications errors (A.E6@) and synchronization errors (A.E5@). Ignores communications errors (A.E6@). Ignores synchronization errors (A.E5@). Ignores communications errors (A.E6@) and synchronization errors (A.E5@). Detects all parame- 4 ter setting warnings (A.94@), MECHATROLINK command warnings (A.95@), and communications errors (A.96@). Ignores parameter setting warning (A. 94@). Ignores command warning (A. 95@). Ignores parameter setting warning (A. 94@) and command warning (A. 95@). Ignores communications warning (A. 96@). Ignore setting warning (A. 94@) and communications warning (A. 96@). Ignores command warning (A. 95@) and communications warning (A. 96@). Ignores setting warning (A. 94@), command warning (A. 95@), and communications warning (A. 96@). Detects communi- 0 cations errors (A.E60) if they occur consecutively for the set value plus two times. (Do not change the setting.) 0 --------Default setting 0 Unit Setting range ---
Reserved. Final travel distance for external positioning
R7D-ZN@-ML2 SMARTSTEP Junior Servo Drive with Built-in MECHATROLINK-II Communications
Parameter No. Pn000 Parameter name Function selection basic switches Parameter size 2 Contents Digit No. 0 Name Reverse rotation 0 Setting Explanation CCW direction is taken for positive command CW direction is taken for negative command Not used. (Do not change the setting.) (Do not change the setting.) (Do not change the setting.) --------------0000 to 000F ------Online --------Default setting 0 Unit Setting range --Enable setting Offline Details
2 to Pn00A Filter settings 2 Not used. Not used. Not used. 0
Sets the filter time constants. When using this parameter, turn ON bit 4 of SW2 on the SMARTSTEP Junior Servo Drive.
Parameter No. Pn20E Parameter name Parameter size Contents Default setting 1 Unit Setting range 1 to 1 to Enable setting Offline Details
Electronic 4 gear ratio G1(numerator) Electronic gear ratio G2 (denominator) 4
Sets the pulse rate for the command pulses and Servomotor travel distance. 0.01 G1/G2 100