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

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174
Axis Operating Output Memory Areas Section 4-7
Output
(CPU
Unit to
PCU) a+16 00 to 02 --- Reserved by the sys-
tem. These bits are reserved by the
system. Do not use. ---
03 Accelera-
tion/decel-
eration
curves Exponential curve
designation Specifies an exponential
curve as the acceleration/
deceleration curve for execut-
ing direct operation, jogging,
origin searches, and origin
returns. 8-2 Origin Search
Operation
8-4 Origin Return
9-4 Using Direct
Operation
10-2 Jogging
04 S-curve designation Specifies an S-curve (move-
ment average) as the acceler-
ation/deceleration curve for
executing direct operation,
jogging, origin searches, and
origin returns.
05 to 13 --- Reserved by the sys-
tem. These bits are reserved by the
system. Do not use. ---
14 Torque limit Forward rotation cur-
rent limit designation
Specifies the torque limit in
the forward direction for axis
operation. 10-4 Torque Limits
15 Reverse rotation cur-
rent limit designation Specifies the torque limit in
the reverse direction for axis
operation.
a+17 --- Operating
data for
transferring
Servo
Parameters Servo Parameter No. Specifies the parameter num-
ber for the Servo Parameters
to be written from or read to
the CPU Unit.
5-3 Transferring
Servo Parameters
a+18 --- Parameter size Specifies the parameter size
for the Servo Parameters to
be written from or read to the
CPU Unit.
a+19 --- Write data
(rightmost word) Specifies the data to be writ-
ten to the Servo Drive from
the CPU Unit. 5-3-1 Writing Servo
Parameters
5-3-3 Saving Servo
Parameters
a+20 --- Write data
(leftmost word)
a+21 00 to 03 Linear inter-
polation
data Interpolation axis
designation for axes
1 to 4 (See note 2.) Specifies the axes for linear
interpolation for combinations
of axes 1 to 4. 9-7 Linear Interpola-
tion
04 to 07 Interpolation axis
designation for axes
5 to 8 (See note 3.) Specifies the axes for linear
interpolation for combinations
of axes 5 to 8.
08 to 15 Not used (reserved
by the system). These bits are reserved by the
system. Do not use.
a+22 00 to 03 Interpolation posi-
tion designation for
axes 1 to 4 (See note
2.) Specify absolute or relative
positioning for the axes for lin-
ear interpolation.
04 to 07 Interpolation posi-
tion designation for
axes 5 to 8 (See note
3.)
08 to 15 Not used (reserved
by the system). These bits are reserved by the
system. Do not use.
a+23 --- Interpolation speed
command value
(rightmost word)
(See note 1.) Specifies the interpolation
speed for linear interpolation.
a+24 --- Interpolation speed
command value
(leftmost word)
(See note 1.)
I/O Word Bits Category Name Operation Details