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

Page: 241 / 644

214
Transferring Servo Parameters Section 5-3
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Axis Operating Input Memory Area (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
READ SERVO PARAMETER can be executed while the corresponding axis is
operating (Busy Flag ON). The following diagram shows the operation used to
read parameters to the Servo Drive.
Timing Chart for Reading
Servo Parameters READ SERVO PARAMETER can 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 read operations specified during an origin search will be performed
after the origin search has been completed.
READ SERVO PARAMETER, WRITE SERVO PARAMETER, and SAVE
SERVO PARAMETER cannot be executed on one axis at the same time.
Servo Parameter No. a+17 --- Specifies the Servo Drive parameter No.
from which the data is to be read.
Parameter size a+18 --- Specifies the data length of the parameter
to be read in byte units.
Name Word Bit Contents
Name Word Bit Contents
Servo Parameter
Transferring Flag b 14 0: Powerup, transfer completed, or transfer
failed
1: Transferring Servo Parameter
Read data (rightmost
word) b+14 --- Contains the Servo Parameter (hexadeci-
mal) that was read. For a parameter size of
two bytes, the rightmost word is used only,
and 0000 is stored in the leftmost word. For
a parameter size of four bytes, four bytes of
data from the rightmost to leftmost words
are stored.
Read data (leftmost
word) b+15 ---
050A hex
0002
13
Pn50A 2881
14
2881 hex
0000
MECHATROLINK
CPU Unit PCU Servo Drive
Axis Operating Output
Memory Area
Word a+1
Word a+18
Word a+17
Axis Operating Input
Memory Area
Word b
Word b+15
Word b+14
READ SERVO PARAMETER Bit
Servo Parameter No. (Pn50A)
Parameter size (2 bytes)
Servo Parameter Transferring Flag (ON while transferring data)
When the length of the parameter to
be read is two bytes (one word),
0000 is input in the leftmost word
(word b + 15).
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