Spesifikasi CJ1W-MCH71

General 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.

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

Functions and Performance Specifications

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 commands 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 override.
	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.
Control Operations according to motion program	Positioning (PTP)	Executes positioning independently for each axis at the speed set in the system parameters. Simultaneous specification: 8 axes max. /block Simultaneous execution: 32 blocks max. /unit
	Linear interpolation	Executes linear interpolation for up to 8 axes simultaneously at the specified interpolation speed. Simultaneous specification: 8 axes max. /block Simultaneous execution: 32 blocks max. /system
	Circular interpolation	Executes clockwise or counterclockwise circular interpolation for two axes at their specified interpolation speed. Simultaneous specification: 2 or 3 axes/block Simultaneous execution: 16 blocks max. /system
	Origin search	Defines the machine origin according to the search method set in the system parameters. An offset can be specified for the position after the origin search. The absolute encoder can also execute origin search.
	Interrupt feeding	By means of inputs to the servo driver, moves a specified axis for a specified travel distance to perform positioning.
	Time-specified Positioning	Executes positioning with time specified.
	Traverse function	Performs winding operation (traverse control) with two specified axes.
	Electronic Cam, Single Axis	Execute cam operation according to the specified cam table data with reference to elapse of time.
	Synchronous Electronic cam	Executes cam operation according to the specified cam table data with reference to the position of the specified axis.
	Link operation	Executes link operation according to set conditions with reference to the position of the specified axis.
	Electronic Shaft	Executes synchronous operation at a speed calculated with the speed of the specified axis and gear ratio.
	Trailing synchronous operation	Executes trailing + synchronous operations with reference to the position of the specified axis.
	Speed command	Outputs speed commands to the specified axis.
	Torque command	Outputs torque commands to the specified axis.
Acceleration/deceleration curve		Trapezoidal or S-shape
Acceleration/ deceleration time	Acceleration/ deceleration time	60000 ms max.
	S-shape time constant	30000 ms max.
External I/O	For high-speed servo communication bus	One port for MECHATROLINK-II
	Servo encoder	Incremental rotary encoder Absolute rotary encoder (Unlimited length ABS supported with some conditions)
	I/O	Deceleration stop input (or servo-OFF stop): 1 pt General input: 2 pts General output: 2 pts
	External power supply for I/O	24 V
Feed rate	Rapid feed rate	1 to 2147483647 [Command unit/min]
	Interpolation feed rate	1 to 2147483647 [Command unit/min]
	Override	Changes the operation speed by applying a given factor to the speed specified by the system parameters or the motion program. 0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task)
	Internal override (supported for unit version 3.1 and later)	The feed rate of the following commands can be set by the motion program. Command: Rate to which override is applied MOVE: Rapid feed rate DATUM: Origin return feed rate MOVEI: Rapid feed rate, external positioning rate MOVET: Rapid feed rate The actual feed rate is calculated using the following formula. Actual feed rate = Axis feed rate × (Axis override + Internal override)
Axis control	Backlash compensation	Compensates mechanical backlash (the mechanical play between driving and driven axes) with a value registered in advance. This function uses a parameter in the servo driver.
	In-position	This function is used whether a positioning is completed or not. This function uses a parameter in the servo driver.
	Position loop gain	This is the position loop gain of the servo driver. This function uses a parameter in the servo driver.
	Feed forward gain	The command values created in the MC Unit are multiplied by this feed forward gain. This function uses a parameter in the Servo Driver.
Program	Number of tasks	Motion task: 8 tasks max.
	Parallel branching in task	Motion task: 8 branches max.
	Number of programs	256 programs max. /unit The program Nos. used for programs are from 0000 to 0999.
	Program numbers	0000 to 0499: Main programs for motion tasks 0500 to 0999: Sub-programs for motion tasks
	Program capacity	2 Mbytes 8000 blocks max. /unit by motion program conversion.
	Number of blocks	800 blocks/program
	Position data capacity	10240 points/unit
	Sub-program nesting	5 levels max.
	Start	Starts program operation from program (of another task)
	Start mode	Motion task: Initial, continue, next
	Deceleration stop	Motion task: Executes deceleration stop regardless of block
	Block stop	Motion task: Executes deceleration stop at the end of the block currently being executed.
	Single-block mode	Motion task: the program is executed one block at a time.
	Breakpoints (supported for unit version 3.0 and later.)	Breakpoints can be set for any block using the Support Tool. When a breakpoint is set for a block, program execution will stop after that block has been executed.
Saving program data	MC Unit	Flash memory backup
Zones (supported for unit version 3.0 and later.)		The zone bit turns ON when any variable (including feedback present position, feedback speed, etc.) is within the set range, and OFF when outside of the set range. A maximum of 32 zones can be set.
Data tracing (supported for unit version 3.0 and later.)		A maximum of two groups can be simultaneously traced, with 1 to 16 data items in each group. Note: The items that can be traced are bits and data. These are each handled as a single item. The number of data samples that can be collected is 2,048 samples when 16 items are set for tracing to 32,768 when only 1 item is set for tracing.
Self-diagnostic function		Watchdog, FLASH-ROM check, RAM check, etc.
Error detection function		Deceleration stop input, unit number error, CPU Unit error, software limit over errors, etc.
Error log function		The error log is to be read from the CPU Unit by means of the IORD instructions as needed.
Alarm reset		Alarm reset
Program and CAM data read protection (supported for unit version 3.1 and later)		Third party access to program and CAM data can be restricted using the CX-Motion-MCH version 2.1 read protection function (password setting).