Industrial Automation

CJ1W-NC[][]4

CJ-series Position Control Units (High-Speed type)

CJ1W-NC[][]4

Motion Control Capabilities with Unit Synchronization and Even Higher Speed

last update: November 6, 2012

General Specifications

Specification item	Model
Specification item	CJ1W-NC214/234	CJ1W-NC414/434
Power supply voltage	5 VDC (unit)
Power supply voltage	24 VDC (external power supply)
Allowable power supply voltage range	21.6 to 26.4 VDC (external power supply)
Internal current consumption	5 VDC, 270 mA maximum	5 VDC, 310 mA maximum
Current consumption of external power supply	24 VDC NC214 13 mA maximum NC234 44 mA maximum	24 VDC NC414 26 mA maximum NC434 90 mA maximum
Dimensions	90 × 51 × 65 (H × W × D)	90 × 62 × 65 (H × W × D)
Weight	170 g maximum	220 g maximum
Ambient operating temperature	0 to 55 °C
Mounting position	CJ-series CPU Rack or CJ-series Expansion Rack
Maximum number of units per rack	5 units
Maximum number of units per CJ system	20 units (when up to 3 expansion racks are connected)
Occupied unit	No. 2
Applicable standards	cULus, EC directives

Models other than above conform to the general specifications of the CJ series.

Performance Specifications

Specification item		Model
Specification item		CJ1W-NC214/234	CJ1W-NC414/434
Applicable PLCs		CJ-series
Number of occupied inputs/outputs	Number of words	18CH *
Controlled drivers		Servo Drive of pulse train input type or stepping motor drivers NC214/414: Open collector output type NC234/434: Line driver output type
Pulse output method		Phase difference pulse output, forward/reverse direction pulse output, pulse + direction output
Controls	Control method	Open-loop control by pulse train output
Controls	Number of controlled axes	2 axes	4 axes
Units of control		Pulse, mm, inch, degree
Positioning functions		Memory operation, direct operation
	Independent operation	Independent, 2 axes	Independent, 4 axes
	Linear interpolation	2 axes maximum	4 axes maximum
	Circular interpolation	2 axes maximum	2 axes maximum
	Speed control	Independent, 2 axes	Independent, 4 axes
	Interrupt Constant- pitch Feed	Independent, 2 axes	Independent, 4 axes
Position command	Data	-2147483648 to +2147483647
Position command	Number of data	500 per task (4 tasks per unit)
Speed command	Data	Position control: 1 to 2147483647 Speed control: -2147483648 to 2147483647 However, this limits the maximum output frequency based on whether the maximum speed is 4 Mpps (NC234/434) or 500 kpps (NC214/414).
Speed command	Number of data	500 per task
Acceleration/ deceleration time	Data	0 to 250000 ms
Acceleration/ deceleration time	Number of data	500 per task
Function	Override	0.01% to 500.00% (settable for each axis)
	Software limits	- 2147483647 to 2147483646 command unit (Settable for each axis)
	Backlash Compensation	0 to 50000 command unit (settable for each axis)
MPG and external encoder counter input	Number of input words	1 word (switchable for each controlled axis)
	Input interface	Photocoupler input
	Maximum response frequency	500 kHz
Feedback pulse counter input	Number of input words	4 words (1 word per axis)
	Input interface	Line receiver input
	Maximum response frequency	NC234/434: 4 MHz (phase difference multiplication of 4 times: 1 MHz) NC214/414: 500 kHz (phase difference multiplication of 4 times: 125 kHz)

* This indicates the number of occupied words of special I/O Unit area. In addition, this occupies areas that correspond
to up to 144 words according to the number of axes and functions which you use.

Functional Specifications

Function item			Description
Control function	Single axis control	Absolute movement	Specify the absolute/relative target position and target speed directly in the ladder program to perform positioning.
		Relative movement
		Speed control	Specify the target speed directly in the ladder program to perform speed feed.
		Interrupt Feeding	Externally issue an interrupt input during absolute movement, relative movement or speed control to feed the machine by a constant amount to perform positioning.
		Rotational axis control	Rotational axes suitable for feeder and index table control are supported. In addition to forward/reverse direction positioning, you can also specify short-cut operation.
		Target position and target speed change	Change the target position or target speed during absolute movement, relative movement or speed control.
	Multi- axis control	Linear interpolation	This control starts/ends the operations of multiple axes simultaneously and connects the start position to target position of each axis by a straight line. Linear interpolation of up to 4 axes is possible.
	Multi- axis control	Circular interpolation	You can combine 2 desired axes and control each axis in a manner which the axes draw a circular path. Three methods are available to specify a circular arc: "Specification of target position and center point", "specification of target position, radius and direction" and "target position and passing points".
	Memory operation	Automatic operation and continuous operation	Set the target positions, target speeds and operation patterns in the PCU beforehand to perform a series of operations automatically. Continuous positioning and speed changes are also possible.
	Memory operation	Sequence function	Memory operation data incorporates a sequence feature that allows for repetition of a given operation, start/end of operation data via external inputs, and so on. Accordingly, the PCU can perform various operation sequences without affecting the ladder program of PLC.
Manual operation function	Origin Search		This function uses an external sensor, etc. to detect the mechanical origin of the system. You can select a desired origin search operation for your system from 15 different origin search operation patterns.
	Origin Return		This function performs the return operation to the established mechanical origin.
	Present Position Present		It changes the present position to the specified data and establishes the origin.
	Deceleration stop		The operating axis decelerates to a stop.
	JOG Operation		This function feeds the axis in the forward/reverse direction at a constant speed.
	Inching operation		The axis inches in the forward/reverse direction.
	MPG operation		Connect a manual pulsar and perform manual feed.
Auxiliary control function	Command unit setting		You can set a desired unit of control for each axis according to the machine.
	Accel- eration/ decel- eration control	Auto acceleration/ deceleration control	This function automatically generates an acceleration/deceleration curve for axis operation. You can select the trapezoidal curve or the S-curve based on a tertiary function.
		Acceleration/ deceleration time change	You can change the acceleration/deceleration time during acceleration/deceleration.
		Acceleration/ deceleration point switch	You can select one of three methods to connect speeds in different operation patterns during continuous-pattern memory operation.
	Override		This function changes the speed of the axis which is currently in positioning operation.
	Backlash Compensation		This compensates for the mechanical plays to increase the positioning accuracy.
	M code		You can output M codes to implement interlocking with external machines during memory operation.
	Zone setting		You can set a desired zone and assess whether the present position is inside the zone. Up to 3 zones are settable for each axis.
	Feedback pulse counter		A feedback pulse counter input is available for each axis. You can connect encoder pulse outputs from a Servo Drive to monitor deviation from the command position, etc.
	Absolute encoder		You can input encoder pulses from a Servo Drive to a feedback pulse counter to use a motor with absolute encoder. This function supports OMRON G-series and G5-series Servomotors with absolute encoder.
	Teaching		This function enables loading of the present position into memory operation position data. It supports not only the present command position, but also the present position from the feedback pulse counter.
	Torque limit output		An output signal is available for operating the torque limit switch input of a Servo Drive. You can turn this output signal ON/OFF directly in the ladder program. Also, Origin Search by holding supports automatic switching of torque limits.
	Monitor function	Software limits	You can set forward/reverse direction software limits of axis operation. If the positioning target exceeds software limit, it is detectable at the start through a command value check.
		Position or speed error monitor	The PCU can monitor the position or speed error between the present command position and present feedback position to generate an error and stop the axis operation upon detection of an excessive error.
		Error between axes monitor	It can also monitor the error between axes during linear interpolation to generate an error and stop the axes operation upon detection of an excessive error.

last update: November 6, 2012

Product Category

Automation Systems
- Programmable Controllers
  - CJ1
    - Special I/O Units
      - CJ1W-PTS
      - CJ1W-AD / DA / MAD
      - CJ1W-PDC15
      - CJ1W-TC
      - CJ1W-NC[][]4
      - CJ1W-NC[][]3
      - CJ1W-CT021
      - CJ1W-V680C11 / V680C12
      - CJ1W-PH41U / AD04U

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