4

CJ1W-MCH71

Control Opera-

tions 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 position-

ing.

Time-specified Position-

ing

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/decelera-

tion 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 (sup-

ported 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 regis-

tered 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.

Item

Specifications