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

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Transferring Servo Parameters Section 5-3
Axis Operating Input Memory Area (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The following diagram shows the operation used to write parameters to the W-
series Servo Drive.
Timing Chart for Writing
Servo Parameters WRITE SERVO PARAMETER can also be executed while the corresponding
axis is operating (Busy Flag ON).
When using Position Control Units with unit version 2.0 or later, any Servo
parameter write operations specified during an origin search will be performed
after the origin search has been completed.
WRITE SERVO PARAMETER, READ SERVO PARAMETER, and SAVE
SERVO PARAMETER cannot be executed on one axis at the same time.
Name Word Bit Contents
Servo Parameter
Transferring Flag b 14 0: Powerup, transfer completed, or transfer
failed
1: Transferring Servo Parameter
050A hex
0002
2881 hex
12
Pn50A 2881
14
---
MECHATROLINK
CPU Unit PCU Servo Drive
Axis Operating Output
Memory Area
Word a+1
Word b
Word a+20
Word a+19
Word a+18
Word a+17
WRITE SERVO PARAMETER Bit
Servo Parameter No. (Pn50A)
Parameter size (2 bytes)
Set value (2881)
Axis Operating Input
Memory Area
Servo Parameter Transferring Flag (ON while transferring data)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
Internal memory
2
00002881 hex
050A hex Servo Parameter No. (Word a+17)
Parameter size (Word a+18)
Write data (Words a+19, a+20)
Busy Flag (Word b, bit 13)
For a parameter size of two bytes, only the
rightmost word (word a + 19) of the write data is
used, and the data in the leftmost word (word a
+ 20) is ignored.
The Servo Parameter Transferring Flag turns ON
for at least one cycle time when the command to
transfer the parameter is received.
The status of the Busy Flag does not change
when Servo Parameters are being written.
WRITE SERVO PARAMETER Bit
(Word a+1, bit 12)
Servo Parameter Transferring Flag
(Word b, bit 14)