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

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Transferring Servo Parameters Section 5-3
• Writing Servo Parameters during Origin Searches for Position Control
Units with Unit Version 2.0 or Later
When writing a Servo Parameter is completed, the Servo Parameter Transfer-
ring Flag (word b, bit 14) turns OFF. If an error occurs during Servo Parameter
transfer, the Error Flag (word b, bit 12) or the Warning Flag (word b, bit 11) will
turn ON, and the corresponding axis error (warning) code is input in word b+4
of the Axis Operating Input Memory Area. Check the error code and perform
appropriate troubleshooting.
Note With PCUs of unit version 1.2 or earlier, WRITE SERVO PARAMETER cannot
be executed when an axis error has occurred. WRITE SERVO PARAMETER
will be ignored if it is executed when an axis error has occurred.
With PCUs of version 1.3 or later, WRITE SERVO PARAMETER can be exe-
cuted even when an axis error has occurred. When the parameters are trans-
ferred, however, the Error Flag can no longer be used to determine if an error
has occurred during the transfer. It is thus necessary to write Servo Parame-
ters after resetting the error or, if parameters are written when there is an axis
error, then steps must be taken to confirm that the parameters were trans-
ferred correctly.
5-3-2 Reading Servo Parameters
Servo Parameters are read to the CPU Unit using the READ SERVO PARAM-
ETER Bit in the Axis Operating Output Memory Area. Specify the parameter
number and parameter size (data length) in the Axis Operating Output Mem-
ory Area and execute READ SERVO PARAMETER. The read parameter will
be input in the Read data word of the Axis Operating Input Memory Area.
One execution of READ SERVO PARAMETER transfers one parameter for
each axis. To transfer multiple parameters, READ SERVO PARAMETER must
be executed separately for each parameter. Parameters for different axes can
also be read at the same time.
Note Execute READ SERVO PARAMETER when the Servo Parameter Transferring
Flag for the corresponding axis is OFF. If READ SERVO PARAMETER is exe-
cuted while a Servo Parameter is being transferred, a Multistart Error (axis
error code: 3050) will occur and the Servo Parameter will not be read.
Servo Parameter reading starts when the READ SERVO PARAMETER Bit in
the Axis Operating Output Memory Area turns ON. When executing READ
SERVO PARAMETER, make sure that the READ SERVO PARAMETER Bit
remains ON until the Servo Parameter Transferring Flag turns ON.
Axis Operating Output Memory Area (Operating Commands)
Origin search operation in progress Origin search operation completed
WRITE SERVO PARAMETER
Bit (word a+1, bit 12)
Servo Parameter Transferring Flag
(word b, bit 14)
Busy Flag (word b, bit 13)
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.
Name Word Bit Contents
READ SERVO
PARAMETER Bit a+1 13 0
→
1: Starts reading Servo Parameter