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CJ1W-NC[]81 / []82

CJ-series Position Control Units with EtherCAT interface

CJ1W-NC[]81 / []82

Preeminent control performance and easy operation feature of EtherCAT improve the production efficiency.

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.