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

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Axis Operating Input Memory Areas Section 4-8
Note (1) Speed Monitoring Unit
When the speed (feedback speed, command speed, or target speed) is
selected for the monitor type, the monitoring unit for position control/
torque control, and speed control is as follows:
For further details on operation timing, refer to 10-5 Speed Control .
(2) Torque Monitoring Unit
When the torque is selected for the monitor type, the monitoring unit for
position control, speed control, and torque control is as follows:
For further details on operation timing, refer to 10-6 Torque Control .
Note (1) Control data is used to monitor the control status of the Servo Drive. The
resolution of the monitor value depends on the specifications of the con-
nected Servo Drive.
6 Target position Command
unit Returns the target position (position
command value) during positioning.
7 Reserved by the
system. --- Do not set.
8 Feedback speed See note 1. Returns the speed of the machine
based on feedback from the Servomo-
tor's encoder.
9 Command
speed See note 1. Returns the speed designated for the
Servo Drive.
A Target speed See note 1. Returns the designated target speed
(speed command value).
B Torque com-
mand See note 2. Returns the torque command for the
Servo Drive.
C to F Reserved by the
system. --- Do not set.
Monitor
Type
Control
information
Unit Details
Control mode Speed
monitoring unit
Unit change timing
Position control
Torque control Command units/s The unit changes when the command to
switch to position control or torque con-
trol is received (when the Receiving
Command Flag turns ON).
Speed control 0.001%
(percentage of
Servomotor’s
momentary maxi-
mum rotation
speed) The unit changes when the command
for SPEED CONTROL is received
(when the Receiving Command Flag
turns ON).
Control mode Torque
monitoring unit
Unit change timing
Position control
Speed control % (1% unit)
(percentage of
Servomotor’s
rated torque)
The unit changes when the command to
switch to position control or speed con-
trol is received (when the Receiving
Command Flag turns ON).
Torque control 0.001%
(percentage of
Servomotor’s
momentary maxi-
mum torque) The unit changes when the command
for TORQUE CONTROL is received
(when the Receiving Command Flag
turns ON).