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

Page: 253 / 644

226
MECHATROLINK Settings Section 6-2
Example:
Beginning word of Axis Operating Output Memory Areas: CIO 100
Beginning word of Axis Operating Input Memory Areas: CIO 500
Station addresses of connected MECHATROLINK devices (registered in scan
list): No. 2, No. 5, and No. 7
In this example, the words occupied as Axis Operating Memory Areas are as
follows:
Axis Operating Output Memory Area: CIO 100 to CIO 274 (Axes 1 to 7)
Axis Operating Input Memory Area: CIO 500 to CIO 674 (Axes 1 to 7)
Axis 2 Output Area: CIO 125 to CIO 149;
Axis 2 Input Area:
CIO 525 to CIO 549
Axis 5 Output Area: CIO 200 to CIO 224;
Axis 5 Input Area:
CIO 600 to CIO 624
Axis 7 Output Area: CIO 250 to CIO 274;
Axis 7 Input Area:
CIO 650 to CIO 674
Axes 1, 3, 4, and 6 are not used, but are still allocated words in the PCU.
These words cannot be used as work words.
Note Set the beginning word of the Axis Operating Output Memory Areas and Axis
Operating Input Memory Areas in the Common Parameters so that the words
allocated to each area do not exceed the range for each of the CPU Unit's I/O
memory areas. If the setting exceeds the range of the I/O memory area, an
Initialization Common Parameter Check Error (Unit error code: 0028) will
occur when the PCU power is turned ON or the Unit is restarted.
Example:
Beginning word of the Axis Operating Output Memory Areas: CIO 6100
Connected axes: 2 min.
Axis 1: Output Area: CIO 6100 to CIO 6124
Axis 2: Output Area: CIO 6125 to CIO 6149
Etc.
Areas for subsequent axes are allocated in sequence. The highest word in the
CIO Area is CIO 6143. Therefore, an error will occur. If the ranges set for the
Axis Operating Output Memory Areas and Axis Operating Input Memory
Areas overlap, an Initialization Common Parameter Check Error (Unit error
code: 0028) will occur when the PCU power is turned ON or the Unit is
restarted.
Axis
No.
MECHATROLINK
station address No.
Axis 1
Axis 16
Axis 15
Axis 14
Axis 4
Axis 3
Axis 2
:
No. 1
No. 16
No. 15
No. 14
No. 4
No. 3
No. 2
:
Axis Operating Output Memory Area
Allocations Axis Operating Input Memory Area
Allocations
Axis 1
Operating
Output
Memory Area
Axis 16
Operating
Output
Memory Area
Axis N
Operating
Output
Memory Area
Axis 2
Operating
Output
Memory Area
Axis 1
Operating
Input Memory
Area
Axis 16
Operating
Input Memory
Area
Axis N
Operating
Input Memory
Area
Axis 2
Operating
Input Memory
Area
Word a+0
Word a+49
Word a+26
Word a+25
Word a+24
Word a+1
:
:
:
:
Word a+(N
−
1)
×
25
Word a+(N
−
1)
×
25+24
Word a+(N
−
1)
×
25+1
Word a+375
Word a+399
Word a+376
Word b+0
Word b+49
Word b+26
Word b+25
Word b+24
Word b+1
:
:
:
:
Word b+(N
−
1)
×
25
Word b+(N
−
1)
×
25+24
Word b+(N
−
1)
×
25+1
Word b+375
Word b+399
Word b+376
a = Beginning word of Axis Operating Output Areas specified in Common Parameters
b = Beginning word of Axis Operating Input Areas specified in Common Parameters