Datasheet

Motion Control Unit 209
Programmable
Controllers
Specifications
Motion Control Unit
Note: 1. Take the following factors into account when mounting Motion Control Units under a single CPU Unit:
- The maximum number of CPU Bus Units that can be allocated words in the CPU Unit
- The capacity of the Power Supply Unit on each CPU Rack or Expansion I/O Rack and the current consumption of the Units mounted on
the Rack (For details, refer to the Operation Manual for the CPU Unit.)
2. The required power supply must be provided by the user.
3. A Memory Card must be used to add system software functions to the CPU Unit in order to use IOWR and IORD.
Model CJ1W-MCH71
Classification CJ-series CPU Bus unit
Applicable PLCs CJ-series V. 2.0 or later
Control Method MECHATROLINK-II (Position, Speed and Torque control )
Controlled devices Sigma-II series Servo Drives (ver. 38 or later) with MECHATROLINK-II Interface and various I/O Units.
Programming language BASIC type motion control language
Controlled axes 32 max, including 30 physical or virtual axes and 2 virtual axes
Operating modes RUN Mode, CPU Mode, Tool Mode/System (depending on Tool)
Automatic/Manual Mode Automatic Mode: Mode for executing programs in the Unit
Manual Mode: Mode for executing commands from the CPU Unit
(via allocated words)
Minimum setting unit 1, 0.1, 0.01, 0.001, 0.0001 (Unit: mm, inch, degree, pulse)
Maximum command value –2,147,483,648 to 2,147,483,647 pulses (32 bits with sign); infinite axis feed mode supported.
Example: 16,384 pulses/rev after multiplication, a minimum setting unit of 0.001 mm and 1 mm/rev
would result in –1,310,720,000 to 1,310,719,999 command units.
Control functions
by command from
CPU Unit
Servo lock/unlock Locks and unlocks the servo driver.
Jogging Executes continuous feeding for each axis independently at the speed system parameter times the override.
Origin search Determines the machine origin in the direction set in the system parameters. Can be executed with an absolute en-
coder.
Absolute origin setting Sets the origin for when an absolute encoder is used. (Offset value: 32 bits [pulses] with sign)
Machine lock Stops the output of move commands to axes.
Single block Executes motion programs one block at a time.
Control functions by
motion program
Positioning (PTP) Executes positioning independently for each axis at a specified speed or the speed system parameter.
(Simultaneous specification: Up to eight axes/block, Simultaneous execution: Up to 32 blocks/Unit)
Linear interpolation Executes linear interpolation for up to eight axes at a time at the specified interpolation feed speed.
(Simultaneous specification: Up to eight axes/block, Simultaneous execution: Up to 32 blocks/system)
Circular interpolation Executes circular interpolation for two axes in either clockwise or counterclockwise at the specified interpolation
feed speed. Helical circular interpolation is also possible with single-axis linear interpolation added.
(Simultaneous specification: Two or three axes/block, Simultaneous execution: Up to 16 blocks/system)
Other functions Origin searches, interrupt feeding, timed positioning, traverse positioning, independent electronic CAM, synchronized
electronic CAM, link operation, electronic gear, follow-up synchronization, speed reference, torque reference
Acceleration/deceleration curve,
acceleration/deceleration time
Trapezoidal or S-curve, 60,000 ms max. (S-curve: Constant 30,000 ms max.)
External I/O One port for MECHATROLINK-II Servo communications, one deceleration stop input, two general inputs, two general
outputs
Feed rate Rapid, interpolation feed rate: 1 to 2,147,483,647 (command units/min)
Override 0.00% to 327.67% (setting unit: 0.01%; Can be set for each axis or task.)
Motion
programs
Number of tasks,
number of programs
Up to 8 tasks and 256 programs/Unit (8 parallel branches per task max.)
Program numbers 0000 to 0499 for main program; 0500 to 0999 for subroutine
Program capacity In motion program conversion, 8,000 blocks/Unit max. (2 Mbytes); number of blocks: 800
Data capacity Position data: 10,240 points/Unit; Cam data: 32 max.; 16,000 points/Unit
Subroutine nesting Five levels max.
Start Programs in other tasks can be started from a program.
Deceleration stop Decelerates to a stop regardless of the block.
Block stop Decelerates to a stop after the block being executed is ended.
Single block Executes the program one block at a time.
Data exchange
with CPU Unit
Words allocated to
Unit in CIO Area
Uses one unit number (25 words). Used for Unit and tasks: 11 to 25 words (depending on the number of tasks)
Words allocated to
Unit in DM Area
Uses one unit number (100 words). Used for Unit and tasks: 32 to 74 words (depending on the number of tasks)
Any area (bits) Axes: 0 to 64 words (depending on the maximum axis number used)
Any area (data) Axes: 0 to 128 words (depending on the maximum axis number used)
Any area (data) General I/O: 0 to 1,280 words (depending on the settings)
Saving programs and data Memory Card backup (in CPU Unit, 100,000 times max.)
Self-diagnostic functions Watchdog, RAM check, etc.
Error detection functions Deceleration stop inputs, unit number errors, CPU errors, software limit errors, etc.
Error log function Read by IORD instruction from CPU Unit.
Support Software Microsoft Windows 2000 or NT 4.0 (Processor: Pentium, 100 MHz min., with at least 64 MB of memory)
External power supply voltage 24 V DC (21.6 to 26.4 V DC)
Internal current consumption 0.6 A or less for 5 V DC
Weight (not including connectors) 300 g max.
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