CJ-series Position Control Units with EtherCAT interface CJ1W-NC[]81 / []82

International Standards

• The standards are abbreviated as follows: U: UL, U1: UL(Class I Division 2 Products for Hazardous Locations), C: CSA, UC: cULus, UC1: cULus (Class I Division 2 Products for Hazardous Locations), CU: cUL, N: NK, L: Lloyd, and CE: EC Directives.
• Contact your OMRON representative for further details and applicable conditions for these standards.

Position Control Units with EtherCAT interface

Unit  type	Product  Name	Specifications		No. of  unit  numbers  allocated	Current  consump-  tion (A)		Model	Stand-  ards
		Control output interface	No. of  axes		5 V	24 V
CJ1  CPU  Bus  Units	Position  Control  Units  with  EtherCAT  interface	Control commands executed by  EtherCAT communications.  Positioning functions: Memory  operation, Direct operation by  ladder programming	2 axes	1	0.46	-	CJ1W-NC281	UC1,  CE
			4 axes				CJ1W-NC481
			8 axes				CJ1W-NC881
			16 axes				CJ1W-NCF81
		Control commands executed by  EtherCAT communications.  Positioning functions: Memory  operation, Direct operation by  ladder programming  I/O communications: 64 nodes	4 axes	1	0.46	-	CJ1W-NC482
			8 axes				CJ1W-NC882
			16 axes				CJ1W-NCF82

Note: 1. There is no accessory for the CJ-series Position Control Unit with EtherCAT interface. 
           2. This unit cannot be used, with the Machine Automation Controller NJ-series.

Recommended EtherCAT Communications Cables

Use Straight STP (shielded twisted-pair) cable of category 5 or higher with double shielding (braiding and aluminum foil tape) for EtherCAT.

Cabel with Connectors

Item	Appearance	Recommended  manufacturer	Cable  length  (m)	Model
Standard type  Cable with Connectors on  Both Ends (RJ45/RJ45)  Wire Gauge and Number of Pairs:  AWG27, 4-pair Cable  Cable Sheath material: LSZH *2  Cable color: Yellow *3		OMRON	0.3	XS6W-6LSZH8SS30CM-Y
			0.5	XS6W-6LSZH8SS50CM-Y
			1	XS6W-6LSZH8SS100CM-Y
			2	XS6W-6LSZH8SS200CM-Y
			3	XS6W-6LSZH8SS300CM-Y
			5	XS6W-6LSZH8SS500CM-Y
Rugged type  Cable with Connectors on  Both Ends (RJ45/RJ45)  Wire Gauge and Number of Pairs:  AWG22, 2-pair Cable		OMRON	0.3	XS5W-T421-AMD-K
			0.5	XS5W-T421-BMD-K
			1	XS5W-T421-CMD-K
			2	XS5W-T421-DMD-K
			5	XS5W-T421-GMD-K
			10	XS5W-T421-JMD-K
Rugged type  Cable with Connectors on  Both Ends (M12 Straight/RJ45)  Wire Gauge and Number of Pairs:  AWG22, 2-pair Cable		OMRON	0.3	XS5W-T421-AMC-K
			0.5	XS5W-T421-BMC-K
			1	XS5W-T421-CMC-K
			2	XS5W-T421-DMC-K
			5	XS5W-T421-GMC-K
			10	XS5W-T421-JMC-K
Rugged type  Cable with Connectors on  Both Ends (M12 Right-angle/RJ45)  Wire Gauge and Number of Pairs:  AWG22, 2-pair Cable		OMRON	0.3	XS5W-T422-AMC-K
			0.5	XS5W-T422-BMC-K
			1	XS5W-T422-CMC-K
			2	XS5W-T422-DMC-K
			5	XS5W-T422-GMC-K
			10	XS5W-T422-JMC-K

Note: For details, refer to Cat.No.G019. 
*1. Standard type cables length 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15 and 20m are available. 
　　　Rugged type cables length 0.3, 0.5, 1, 2, 3, 5, 10 and 15m are available. 
*2. The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use. 
*3. Cables colors are available in blue, yellow, or Green.

Cables/Connectors

Wire Gauge and Number of Pairs: AWG24, 4-pair Cable

Item	Appearance	Recommended manufacturer	Model
Cable	-	Hitachi Metals, Ltd.	NETSTAR-C5E SAB 0.5✕4P *
	-	Kuramo Electric Co.	KETH-SB *
	-	SWCC Showa Cable Systems Co.	FAE-5004 *
RJ45 Connectors	-	Panduit Corporation	MPS588-C *

* We recommend you to use above cable and connector together.

Wire Gauge and Number of Pairs: AWG22, 2-pair Cable

Item	Appearance	Recommended manufacturer	Model
Cable	-	Kuramo Electric Co.	KETH-PSB-OMR *
	-	JMACS Japan Co., Ltd.	PNET/B *
RJ45 Assembly Connector		OMRON	XS6G-T421-1 *

Note: Connect both ends of cable shielded wires to the connector hoods. 
* We recommend you to use above cable and connector together.

Support Software

Product  name	Specifications			Model	Stand-  ards
		Number of  licenses	Media
FA  Integrated  Tool  Package  CX-One  Ver.4.[]	The CX-One is a comprehensive software  package that integrates Support Software for  OMRON PLCs and components.  CX-One runs on the following OS.  OS:  Windows XP (Service Pack 3 or higher,  32-bit version) /  Windows Vista (32-bit/64-bit version) /  Windows 7 (32-bit/64-bit version) /  Windows 8(32-bit/64-bit version)/  Windows 8.1(32-bit/64-bit version)  CX-One Version 4.[] includes CX-Programmer  Ver.9.[].	1 license *	DVD	CXONE-AL01D-V4	-

* Multi licenses are available for the CX-One (3, 10, 30 or 50 licenses).

General Specifications

Item	CJ1W-NC281/-NC481/-NC881/-NCF81/-NC482/-NC882/-NCF82
Dimensions	90 × 65 × 31 mm (H × D × W)
Weight	110 g max.
Internal current consumption	460 mA max. at 5 VDC
Ambient operating temperature	0 to 55°C
Applicable standards	Conforms to cULus and EC Directives.

Note: All other specifications conform to the general specifications of the CJ Series.

Characteristics

Item			Models
			Servo control only
			CJ1W-NC281	CJ1W-NC481	CJ1W-NC881	CJ1W-NCF81
Applicable PLCs			CJ Series
Settable unit numbers			0 to F (unit number as a CPU Bus Unit)
Maximum number of Units			10 Units per Rack, 16 Units per PLC (Can be used on Expansion  Racks.)
Allocated  I/O  words	Position Control Unit Control  Memory Areas		25 words in CPU Bus Unit Area
	Axis Operation Memory Areas		43 words for each control axis (2 + 12 output words and 13 + 16  input words) in specified words in the CIO, Work, DM, or EM Area.
	Memory Operation Memory Areas		7 words for each task (3 output words and 4 input words) in specified  words in the CIO, Work, DM, or EM Area
	I/O Memory Areas		---
Controllable Servo Drives *1			G5-series Servo Drives with Built-in EtherCAT Communications
Controllable encoder input terminal *2 *3			---
Control method			Control commands using EtherCAT communication
Number of controlled axes			2 axes	4 axes	8 axes	16 axes
Maximum command output speed			104 Mpps *4
Control  units	Setting unit		Pulses, millimeters, inches, or degrees
	Unit multiplier *5		×1, ×10, ×100, ×1,000, or ×10,000
	Electronic gear ratio *5		Unit version 1.1 or earlier: 1/1 to 1,048,576/1,048,576  Unit version 1.3 or later: 1/1 to 4,294,967,295/4,294,967,295
Positioning functions			Memory operation or direct operation
	Single  axis  control	Position control	2 axes	4 axes	8 axes	16 axes
		Speed control	2 axes	4 axes	8 axes	16 axes
	Inter-  polated  control	Linear interpolation	2 axes max.	4 axes max.	4 axes max.	4 axes max.
		Circular interpolation	2 axes	2 axes	2 axes	2 axes
		Helical interpolation *3	---	---	---	---
	Memory  operation	Maximum number of  tasks	2	4	4 *6	4 *6
		Sequence functions	JUMP, FOR-NEXT (50 layers/task), PSET, and PRSET
		Dwell timers	500/task, 0 to 10.00 s (Set in increments of 0.01 s.)
Position  command values	Data		-2,147,483,648 to 2,147,483,647 command units *7
	Number of position command  values		500/task
Speed  command values	Data *8		Position control: 1 to 2,147,483,647 command units/s  Speed control: -2,147,483,648 to 2,147,483,647 command units/s
	Number of speed command values		500/task
Accel-  eration  times	Data		0 to 250,000 ms
	Number of acceleration times		500/task
Decel-  eration  times	Data		0 to 250,000 ms
	Number of deceleration times		500/task
Auxiliary  functions	Overrides		0.01% to 500.00% (Can be set for each axis.)
	Software limits		-2,147,483,647 to 2,147,483,646 command units (Can be set for  each axis.)
	Backlash compensation		Backlash compensation is performed using the compensation  function in the Servo Drive. The setting range depends on the  specifications of the Servo Drive.
	Torque Limits		Unit version 1.1 or earlier: Supports only the ability to enable or  disable the torque limits by turning ON or OFF the command bits.  Unit version 1.3 or later: Supports the ability to change the torque  limit data via the Memory Area/Synchronous Data Link in addition to  the ability to enable or disable the torque limits by turning ON or  OFF the command bits.
Synchronous Data Link function			None
Control  perfor-  mance	Control cycle		0.5 ms	0.5 ms when  using 1 to 2  axes  1 ms when  using 3 to 4  axes	0.5 ms when  using 1 to 2  axes  1 ms when  using 3 to 4  axes  2 ms when  using 5 to 8  axes	0.5 ms when  using 1 to 2  axes  1 ms when  using 3 to 4  axes  2 ms when  using 5 to 16  axes
	Communications cycle		250 µs		250 µs when  using 1 to 4  axes  500 µs when  using 5 to 8  axes	250 µs when  using 1 to 4  axes  500 µs when  using 5 to 10  axes  1.0 ms when  using 11 to 16  axes
	Starting  time *9	Direct operation  (high-speed PTP) *10	0.15 to 0.4 ms		0.15 to 0.4 ms  when using 1  to 4 axes  0.15 to 0.8 ms  when using 5  to 8 axes	0.15 to 0.4 ms  when using 1  to 4 axes  0.15 to 0.8 ms  when using 5  to 10 axes  0.15 to 1.2 ms  when using 11  to 16 axes
		Direct operation  (bits) *11	0.75 to 1.25 ms	1.25 to 2.25 ms	2.5 to 4.5 ms	3.0 to 5.0 ms
		Memory operation  (linear interpolation)  *11	1.75 to 2.25 ms	3.25 to 4.25 ms	6.5 to 8.5 ms	7.0 to 9.0 ms
Control  I/O	Servo  Drive  interface	Communications port	EtherCAT port × 1
		Output signals	There are no external output signals for external outputs.  The following command bits are provided for each axis for Servo  Drive control: Deviation Counter Reset Bit, Alarm Reset Bit, Servo  Lock Bit, Servo Unlock Bit, and Torque Limit Bits.
		Input signals	There are no external input signals for external inputs.  The following status flags are provided for each axis for Servo Drive  control: Origin Input Flag, Servo Drive Alarm Input Flag, and  Positioning Completed Input Flag.
		External interface  signals *12	6 signals (external origin signal, origin proximity signal, forward limit  signal, reverse limit signal, emergency stop signal, and interrupt  input signal) for each axis

Item			Models
			Servo control + I/O communications
			CJ1W-NC482	CJ1W-NC882	CJ1W-NCF82
Applicable PLCs			CJ Series
Settable unit numbers			0 to F (unit number as a CPU Bus Unit)
Maximum number of Units			10 Units per Rack, 16 Units per PLC (Can be used on Expansion  Racks.)
Allocated  I/O  words	Position Control Unit Control  Memory Areas		25 words in CPU Bus Unit Area
	Axis Operation Memory Areas		43 words for each control axis (2 + 12 output words and 13 + 16  input words) in specified words in the CIO, Work, DM, or EM Area.
	Memory Operation Memory Areas		7 words for each task (3 output words and 4 input words) in specified  words in the CIO, Work, DM, or EM Area
	I/O Memory Areas		1,300 words maximum (Outputs: 640 words, inputs: 640 words,  communications status: 20 words) in specified words in the CIO,  Work, DM, or EM Area
Controllable Servo Drives *1			G5-series Servo Drives with Built-in EtherCAT Communications
Controllable encoder input terminal *2 *3			OMRON encoder input terminal GX-EC02[]1
Control method			Control commands using EtherCAT communication
Number of controlled axes			4 axes	8 axes	16 axes
Maximum command output speed			104 Mpps *4
Control  units	Setting unit		Pulses, millimeters, inches, or degrees
	Unit multiplier *5		×1, ×10, ×100, ×1,000, or ×10,000
	Electronic gear ratio *5		Unit version 1.1 or earlier: 1/1 to 1,048,576/1,048,576  Unit version 1.3 or later: 1/1 to 4,294,967,295/4,294,967,295
Positioning functions			Memory operation or direct operation
	Single  axis  control	Position control	4 axes	8 axes	16 axes
		Speed control	4 axes	8 axes	16 axes
	Inter-  polated  control	Linear interpolation	4 axes max.	4 axes max.	4 axes max.
		Circular interpolation	2 axes	2 axes	2 axes
		Helical interpolation *3	3 axes	3 axes	3 axes
	Memory  operation	Maximum number of  tasks	4	4 *6	4 *6
		Sequence functions	JUMP, FOR-NEXT (50 layers/task), PSET, and PRSET
		Dwell timers	500/task, 0 to 10.00 s (Set in increments of 0.01 s.)
Position  command values	Data		-2,147,483,648 to 2,147,483,647 command units *7
	Number of position command  values		500/task
Speed  command values	Data *8		Position control: 1 to 2,147,483,647 command units/s  Speed control: -2,147,483,648 to 2,147,483,647 command units/s
	Number of speed command values		500/task
Accel-  eration  times	Data		0 to 250,000 ms
	Number of acceleration times		500/task
Decel-  eration  times	Data		0 to 250,000 ms
	Number of deceleration times		500/task
Auxiliary  functions	Overrides		0.01% to 500.00% (Can be set for each axis.)
	Software limits		-2,147,483,647 to 2,147,483,646 command units (Can be set for  each axis.)
	Backlash compensation		Backlash compensation is performed using the compensation  function in the Servo Drive. The setting range depends on the  specifications of the Servo Drive.
	Torque Limits		Unit version 1.1 or earlier: Supports only the ability to enable or  disable the torque limits by turning ON or OFF the command bits.  Unit version 1.3 or later: Supports the ability to change the torque  limit data via the Memory Area/Synchronous Data Link in addition to  the ability to enable or disable the torque limits by turning ON or  OFF the command bits.
Synchronous Data Link function			Unit version 1.1 or earlier: None.  Unit version 1.3 or later: Provides command support for velocity  command data, torque command data, torque feedforward data,  torque limit data, and velocity limitation value when used in  conjunction with a CJ2H-CPU (unit version 1.4 or later).  Unit version 1.5 or later: Provides command support for  electronic cam operation.
Control  perfor-  mance	Control cycle		0.5 ms when  using 1 to 2 axes  1 ms when using  3 to 4 axes	0.5 ms when using 1 to  2 axes  1 ms when using 3 to 4  axes  2 ms when using 5 to 8  axes	0.5 ms when using 1 to  2 axes  1 ms when using 3 to 4  axes  2 ms when using 5 to  16 axes
	Communications cycle		250 µs	250 µs when using 1 to  4 axes  500 µs when using 5 to  8 axes	250 μs min. when  using 1 to 4 axes  500 μs min. when  using 5 to 10 axes  1.0 ms when using 11  to 16 axes
	Starting  time *9	Direct operation  (high-speed PTP) *10	0.15 to 0.4 ms	0.15 to 0.4 ms when  using 1 to 4 axes  0.15 to 0.8 ms when  using 5 to 8 axes	0.15 to 0.4 ms when  using 1 to 4 axes  0.15 to 0.8 ms when  using 5 to 10 axes  0.15 to 1.2 ms when  using 11 to 16 axes
		Direct operation  (bits) *11	1.25 to 2.25 ms	2.5 to 4.5 ms	3.0 to 5.0 ms
		Memory operation  (linear interpolation)  *11	3.25 to 4.25 ms	6.5 to 8.5 ms	7.0 to 9.0 ms
Control  I/O	Servo  Drive  interface	Communications port	EtherCAT port × 1
		Output signals	There are no external output signals for external outputs.  The following command bits are provided for each axis for Servo  Drive control: Deviation Counter Reset Bit, Alarm Reset Bit, Servo  Lock Bit, Servo Unlock Bit, and Torque Limit Bits.
		Input signals	There are no external input signals for external inputs.  The following status flags are provided for each axis for Servo Drive  control: Origin Input Flag, Servo Drive Alarm Input Flag, and  Positioning Completed Input Flag.
		External interface  signals *12	6 signals (external origin signal, origin proximity signal, forward limit  signal, reverse limit signal, emergency stop signal, and interrupt  input signal) for each axis

*1. A controllable Servo Drive is Servo Drive for which you can use the position control functions of the Position Control 
       Unit. 
*2. A controllable encoder input terminal is a slave for which you can use the encoder axis function of the Position 
       Control Unit. 
*3. Available with unit version 1.5 or later. 
*4. This is the maximum speed command when converted to pulses. 
*5. Command units can be set for each axis according to the electronic gear ratio and unit multiplier. 
*6. Up to four axes can be controlled by each task. 
*7. Setting is possible between -2,147,483,648 and 2,147,483,647 pulses. 
*8. The command can be set to up to 104,857,600 pps when converted to pulses. 
*9. This is the time from executing a command at the PLC until the command is output on EtherCAT communications. 
       Execution for command bits is in the I/O refresh period. 
       The starting time depends on the control cycle, communications cycle, and operating conditions. 
       Refer to Position Control Units Operation Manual (Cat. No. W487) for details. 
*10. The starting time applies when starting one axis with a special Position Control Unit instruction and a CJ2M or CJ2H 
       CPU Unit with unit version 1.3 or later. 
*11. These are the internal Position Control Unit processing times. 
*12.Servo Drive inputs are used.

EtherCAT Communications Specifications

Item	Characteristics
	Servo control only				Servo control +  I/O communications
	CJ1W-  NC281	CJ1W-  NC481	CJ1W-  NC881	CJ1W-  NCF81	CJ1W-  NC482	CJ1W-  NC882	CJ1W-  NCF82
Communications  standard	IEC 61158 Type12
Physical layer	100Base-TX (IEEE802.3)
Connector	RJ45 shielded connector × 1
Communications  media	Category 5 or higher (Recommended: cable with double, aluminum tape and braided shielding)
Communications  distance	100 m max. between nodes
Topology	Daisy chain only *1
EtherCAT Master  Specifications	Class B (minimum master-CoE compatible (no information service for SDO))
Maximum number  of slaves *2	2	4	8	16	68	72	80
Node address  setting range	1 to 2	1 to 4	1 to 8	1 to 16	1 to 4 and  17 to 80 *3	1 to 8 and  17 to 80 *3	1 to 16 and  17 to 80 *3
Communications  cycle *4	250 µs, 500 µs, 1 ms, or 2 ms
Process data	Fixed PDO mappings specified for the slaves are used (set using Support Software).
Mail box (CoE)	Emergency messages, SDO requests, SDO responses, and SDO information (Used for Position  Control Unit communications control and slave device parameter transfers.)
LED indicators	ECAT RUN × 1  ECAT ERR × 1  L/A (Link/Activity) × 1
CiA402 drive  profile *5	• Cyclic synchronous position mode  • Cyclic synchronous velocity mode  • Cyclic synchronous torque mode  • Touch probe function  • Torque limit function

*1. Ethernet hubs cannot be used. 
*2. This is the number of slaves, including Servo Drives and remote I/O slaves. The number of slaves that can be 
       connected is limited. Refer to Number of Remote I/O Connections for details. 
*3. Node addresses 17 to 80 are reserved for remote I/O slaves. 
*4. The setting range depends on the number of slaves that are connected and the slave specifications. 
       Refer to Position Control Units Operation Manual (Cat. No. W487) for details. 
*5. This drive profile is used when connected to a G5-series Servo Drive.

Number of Remote I/O Connections

The Position Control Unit has the memory of up to 640 bytes for inputs and 640 bytes for outputs to be used for PDO communications. 
The number of slaves that can be connected to the CJ1W-NC482/NC882/NCF82 is determined by the maximum memory size for PDO communications. 
The memory of the PDO communication is shared with the Servo Drives; therefore, the number of I/O slaves that can be connected changes with the number of G5 Series Servo Drive (number of use axes) that are connected to the Position Control Unit.

Number of Servo Drive axes	Size used by Servo Drive axes (bytes) *	Remaining PDO communications memory size (bytes)		Number of slaves that can be connected according to slave I/O size (guidelines)
		IN	OUT	8 bytes of I/O (4 input and 4 output bytes)	16 bytes of I/O (8 input and 8 output bytes)	32 bytes of I/O (16 input and 16 output bytes)	64 bytes of I/O (32 input and 32 output bytes)
0 axis	0	640	640	64	64	40	20
1 axis	29	611	611	64	64	38	19
2 axes	58	582	582	64	64	36	18
4 axes	116	524	524	64	64	32	16
8 axes	232	408	408	64	51	25	12
16 axes	464	176	176	64	22	11	5

* The G5-series Servo Drives also use IN and OUT bytes. The factory default of the PDO communications size is 29 bytes.

Functional Specifications

The following functions are supported when the Position Control Unit is connected to an EtherCAT-compatible OMNUC G5-series Servo Drive.

Function			Description
Control  functions	Single axis  control	Absolute movements	Positioning is performed by specifying the absolute or relative target  position and target speed directly from the ladder program.
		Relative movements
		Speed control	Feeding at a specified speed is performed by specifying the target  speed directly from the ladder program. Speed control is  implemented using speed feeding with position control.
		Interrupt feeding	Interrupt feeding can be used to move a specified amount when an  interrupt input is received during an absolute movement, a relative  movement, or speed control.
		Rotation axis  control	Rotation axes that are suitable for feeder and index table control can  be controlled. Forward and reverse positioning and shortest route  operations are possible.
		Changing target  positions and target  speeds	The target position or target speed can be changed during an  absolute movement, a relative movement, or speed control.
	Multi-axis  control	Linear interpolation	The operation of more than one axis is started and stopped  simultaneously to move in a straight line to the target position from  the starting point of each axis. Linear interpolation is possible for up  to four axes.
		Circular  interpolation	The operation of any two axes is controlled to move in a circular arc.  Any of three methods can be used to specify a circular arc:  specifying the target position and center point, specifying the target  position, radius, and direction and specifying the target position and  passing point.
		Helical interpolation	Helical interpolation is performed by giving one more axis to circular  interpolation. The number of turns can be specified.  This function is available with CJ1W-NC[]82  (unit version 1.5 or later).
	Memory  operation	Automatic  continuous  operation	The target positions, speeds, and operation patterns can be set in  advance in the Position Control Unit to automatically perform a  series of operations.  Continuous positioning and speed changes are also possible.
		Sequence functions	Memory operation data provides sequence functions, including  repetition of a given operation and starting/stopping operation data  by using external inputs.  Therefore, the Position Control Unit can perform various operation  sequences without affecting the ladder programming in the CPU Unit.
Manual  operation	Origin searches		External sensors and other means are used to detect the  mechanical origin of the system.  You can select the origin search operation that is best for your  system from 15 different origin search operation patterns.
	Origin returns		You can return to the point that was defined as the mechanical  origin.
	Presetting the present position		The present position can be changed to a specified value to define  the origin.
	Deceleration stops and emergency stops		An axis that is in operation can be decelerated to a stop or stopped  immediately.
	Jogging		You can jog either forward or in reverse.
	Inching		You can inch either forward or in reverse.
Synchronous Data Link			The CJ1W-NC[]82 (unit version 1.3 or later) can perform data  exchange between the CPU and Position Control Unit at regular  intervals when used in conjunction with a CJ2H CPU (unit version  1.4 or later).  In addition, you can use this function to perform synchronous  feeding position, synchronous feeding velocity, and synchronous  feeding torque control. Also, optional commands are available for  torque feedforward data, torque limit data, and velocity limitation  value.  CJ1W-NC[]82 (unit version 1.5 or later) supports command for  electronic cam operation as well.
Auxiliary  control  functions	Command unit setting		You can set the unit of control for each axis according to the  machine.
	Acceler-  ation/  deceler-  ation  control	Automatic  acceleration/  deceleration control	The acceleration/deceleration curve can be automatically created  during operation. You can select either a trapezoidal curve or an S  curve based on a tertiary function.
		Changing  acceleration/  deceleration rates	You can change the rate of acceleration/deceleration during  acceleration/deceleration.
		Switching  acceleration/  deceleration points	You can select one of three methods to connect speeds between  different operation patterns during continuous memory operation.
	Overrides		You can increase or decrease the operating speed of the system by  a specified factor.
	Backlash compensation		You can compensate for mechanical play using a parameter.
	M codes		M codes can be output during memory operation to interlock with  external devices.
	Zone settings		You can set zones and assess when the present position is in a  zone. Up to three zones can be set for each axis.
	Support for absolute encoders		You can build an absolute positioning system by using a Servomotor  with an Absolute Encoder. The Position Control Units can be used  together with OMRON's G5-series Servomotors with Absolute  Encoders.
	Teaching		You can save the present position as position data for memory  operation.You can use either the command present position or  feedback present position.
	Torque limit outputs		The torque limit outputs can be used to switch the torque limits of  the Servo Drive. They can be turned ON and OFF directly from a  ladder program. Torque limits can be automatically switched by  using holding for an origin search operation.  In addition, you can change the torque limit data via the  Synchronous Data Link by using the CJ1W-NC[]82 (unit version 1.3  or later) in conjunction with a CJ2H-CPU (unit version 1.4 or later)  and G5-series Servo Drive (version 2.0 or later).  Also, you can change the torque limit data via the Memory Area by  using the CJ1W-NC[]81/-NC[]82 (unit version 1.3 or later) in  conjunction with a G5-series Servo Drive (version 2.0 or later).
	Monitoring  functions	Software limits	You can set forward and reverse software limits for axis operation.  If the target position exceeds a software limit, it will be detected in  the command value check that is performed at startup.
		Monitoring position/  speed deviations	The Position Control Unit monitors the position or speed deviation  between the present command position and present feedback  position. You can stop axis operation if the deviation is too large.
		Monitoring deviation  between axes	The deviation between axes is also monitored during linear  interpolation. You can stop axis operation if the deviation is too  large.

Functions available when connected with OMRON encoder input terminal GX-EC02[]1 are as shown below. 
They are available with CJ1W-NC[]82, unit version 1.5 or later.

Function		Description
Manual  operation	Present position preset	The present position can be changed to a specified value to define the origin.
Auxiliary  control  functions	Command unit setting	You can set the unit of control for each axis according to the machine.
	Zone settings	You can set a zone to check if the present position is in the set zone.  Up to three zones can be set for each axis.
	Present position latch	The position data when an external control input (latch A) is detected at the  encoder input terminal is stored in the Position Control Unit.
	Origin position latch	The position data when an external control input (latch B) is detected at the  encoder input terminal is stored in the Position Control Unit.