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

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Axis Operating Input Memory Areas Section 4-8
Example: If a W-series Servo Drive equipped with a JUSP-NS115
MECHATROLINK-II Application Module is connected, the minimum
resolution of the monitor values for feedback speed and command
speed during position/torque control is 1,000 command units/s.
Depending on the length of the PLC cycle and MECHATROLINK commu-
nications cycle short-term changes of the Servo Drive status may not be
monitored successfully.
(2) If MECHATROLINK communications are stopped (connection released)
during speed or torque control and MECHATROLINK communications
are restarted to execute SERVO LOCK (Servo ON), the power to the Ser-
vomotor will be recovered with the previous control mode maintained. At
this point, the PCU cannot obtain correct monitor values for speed or
torque monitor in its expanded monitoring.
To stop MECHATROLINK communications during SPEED CONTROL or
TORQUE CONTROL execution, either execute DECELERATION STOP
or EMERGENCY STOP, or execute SERVO UNLOCK, change to the po-
sition control mode, and then release the connection.