Omron CJ1W-MA - REV 10-2008, Operation Manual

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Upgrades Made According to Unit Versions of the Position Control Unit
Unit Version 1.0 to Unit Version 1.1
Unit Version 1.1 to Unit Version 1.2
Unit Version 1.2 to Unit Version 1.3
Functional upgrade Unit version 1.0 Unit version 1.1
Addition of linear interpolation
function
Linear interpolation cannot be used.
Linear interpolation can be performed for
positioning operations combining one or
more axes.
Linear interpolation can performed for up to
four axes each of axes 1 to 4 and axes 5 to 8
for Servo Drive axes connected to the Posi-
tion Control Unit.
(
Refer to 9-7 Linear Inter-
polation .
)
Functional upgrade Unit version 1.1 Unit version 1.2
Addition of setup function for
absolute encoders An absolute encoder must be set up the
first time it is used, when the rotation data
is initialized to 0, or when the absolute
encoder is left for a long period of time
without the battery connected.
With Position Control Units with unit ver-
sion 1.1 or earlier, the following operation
is used to set up the absolute encoder.
• Special software (personal computer
monitoring software) must be connected
to the Servo Drive to perform the setup
operation.
With Position Control Units with unit version
1.2 or later, the following operation can be
used to set up the absolute encoder.
• Special software (personal computer moni-
toring software) can be connected to the
Servo Drive to perform the setup operation.
• When the Position Control Unit is used with
a CPU Unit with unit version 3.0 or later, the
absolute encoder can be set up from the
program by using a function block from the
OMRON FB Library.
• The absolute encoder can be set up from
the CX-Motion-NCF. (Refer to 8-6-4
Absolute Encoder Setup .)
Functional upgrade Unit version 1.2 Unit version 1.3
Addition of deviation counter
reset function The deviation counter in the Servo Drive
cannot be reset from the Position Control
Unit during position control operations. The deviation counter in the Servo Drive can
be reset from the Position Control Unit during
position control operations.
To deviation reset function in the Position
Control Unit works by sending a movement
command in the opposite direction and of the
same size as the current position deviation
so that the current command position equals
the current feedback position.
(Refer to 10-10 DEVIATION COUNTER
RESET .)