CJ1W-MCH71

3

Specifications

General Specifications

Specifications other than those shown above conform to the general specifications for the CJ series.

Functions and Performance Specifications

Item

Specifications

Model

CJ1W-MCH71

Power supply voltage

5 VDC (from Backplane)

24 VDC (from external power supply)

Voltage fluctuation tolerance

4.5 to 5.5 VDC (from Backplane)

21.6 to 26.4 VDC (from external power supply)

Internal current consumption

5 VDC 0.6 A max.

Weight (Connectors excluded)

210 g max.

Safety standards

UL, CSA, C-TICK, and EC Directives.

Dimensions (mm)

90 (H)

× 79.8 (W) × 65 (D) (single)

Altitude

At 2,000 m elevation or lower.

Item

Specifications

Applicable PLC

CJ-series PLCs with CPU Units with unit version 2.0 or later

Type of Unit

CPU Bus Unit

Mounting

CPU unit or expansion rack

Number of Units

One CJ1W-MCH71 Motion Control Unit requires the space of three standard Unit.

Method for data

transfer with CPU

Unit

CIO Area for CPU Bus

Unit

Occupies the area for 1 unit (25 words)

For units and tasks: 11 to 25 words (Depending on the number of motion tasks)

DM Area for CPU Bus

Unit

Occupies the area for 1 unit (100 words)

For units and tasks: 32 to 74 words (Depending on the number of motion tasks)

Custom Bit Area

For axes: 0-64 words (Depending on the greatest number of the axis used)

Custom Data Area

For axes: 0-128 words (Depending on the greatest number of the axis used)

Custom Data Area

For General I/O: 0-1280 words (Depending on setting)

Controlled Devices

MECHATROLINK-II below supported

• W-series Servo Driver with built-in communications functions

• W-series Servo Driver (OMRON) + Communications I/F Unit (YASKAWA)

• Various I/O units (YASKAWA)

• SMARTSTEP Junior Servo Drive

Up to 30 nodes

* When MECHATROLINK-II devices are connected up to 16 nodes (within 30 m) or 15 nodes (within 50m), a

repeater unit is not required. A repeater unit is required to connect MECHATROLINK-II devices more than the

cases described above.

Built-in program language

Dedicated motion control language

Control

Control method

MECHATROLINK-II

• Position commands, Speed commands, Torque commands

Number of controlled

axes

32 axes max.

Physical axes/Virtual axes: 30 axes max. (Either can be selected for each axis)

Dedicated for virtual axes: 2 axes

Operating modes

RUN mode, CPU mode, Tool mode/System (Depending on the tool)

Automatic/Manual Mode

Automatic mode: Executing built-in programs of MC Unit controls motion.

Manual mode: Executing commands from CPU Unit (PC interface area) controls motion.

Note: The Automatic or Manual Mode is set according to the PC Interface area of the CPU Unit.

Control unit

Minimum setting unit

1, 0.1, 0.01, 0.001, 0.0001

Units

mm, inch, deg, pulse

Maximum position command value

-2147483647 to 2147483647 pulses (signed 32-bit)

Mode for unlimited axes feeding is possible.

Example: With 16-bit encoder (65536 pulse/rev), Minimum setting unit: 0.001 mm, 10 mm/rev, the position

command value range will be from -327679999 to 327679999 command units.

Control operations

based on com-

mands from the

CPU Unit

Servo lock/unlock

Executes Servo driver lock or unlock

Jogging

Executes continuous feeding independently for each axis, by means of speed set in system parameter x over-

ride.

STEP operation

Feeds a specified distance for a specified axis.

Origin search

Defines the machines origin according to the search method set in the system parameters.

Forced origin

Forcibly sets the present position to 0 to establish it as the origin.

Absolute origin setting

Sets the origin when an absolute encoder is used.

Offset value: Signed 32-bit (pulses)

Error counter reset

Forcibly resets the error counter to 0.

Present position preset

Sets the present position to a user-specified value.

Machine lock

Prohibits the output of motion commands to the axes.

Single block

Executes the motion program one block at a time.

Auto/manual change

Switches between auto mode and manual mode.