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

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MECHATROLINK Settings Section 6-2
6-2-3 MECHATROLINK Communications Settings
In addition to the scan list, the following four PCU settings are also for
MECHATROLINK communications.
• Transfer cycle
• Communications cycle
• Number of communications retries
• C2 master connection
Of these settings, the transfer cycle and communications cycle must always
be set when using the PCU. The settings for MECHATROLINK communica-
tions are set as the PCU's Common Parameters.
Set the two words of data in the PCU's internal addresses 1856 hex and
1857 hex as shown in the following table. The Common Parameters settings
saved in the PCU's internal flash memory are enabled when the PCU power is
turned ON or the Unit is restarted.
Transfer Cycle
The transfer cycle is the cycle used for sending and receiving data with
MECHATROLINK communications. Data (sent and received) is constantly
exchanged along the MECHATROLINK communications path during every
transfer cycle. The set value and setting range for the transfer cycle depends
on the type and number of MECHATROLINK devices connected. When a W-
series Servo Drive equipped with a JUSP-NS115 MECHATROLINK-II Appli-
cation Module or with built-in MECHATROLINK-II communications is con-
nected to the PCU, the setting range for the transfer cycle is 0.5 to 4 ms.
When a G-series Servo Drive is connected to the PCU, the setting range for
the transfer cycle is 1 to 4 ms.
PCU's
address
Contents Setting
Bits 08 to 15 Bits 00 to 07
1856 hex Transfer cycle Communications
cycle Transfer cycle:
00 hex: 1 ms (default setting)
01 hex: 1 ms
05 hex: 5 ms
02 hex: 2 ms 06 hex: 6 ms
03 hex: 3 ms 07 hex: 7 ms
04 hex: 4 ms 08 hex: 8 ms
A2 hex: 0.25 ms A5 hex: 0.5 ms
Communications cycle:
Sets a multiplier to obtain integer multiples of the transfer
cycle.
Set value: 00 to 20 hex
The default setting 00 is the same as when the cycle is set to
3.
Set as follows:
G Series
Transfer cycle
×
communications cycle (multiplier)
≤
16 ms.
Other Series
Transfer cycle
×
communications cycle (multiplier)
≤
32 ms
The transfer cycle must be between 1 and 4 ms.
1857 hex 00 (fixed) 07 to 04 03 to 00 C2 master connection:
0: No C2 master (default setting)
1: C2 master connected
Number of communications retries:
Set value: 0 to 7, F
The default setting 0 is the same as when the number of retries
is set to 1.
When F is specified, the number of retries is 0 (no retries).
C2 mas-
ter con-
nection Number
of com-
munica-
tions
retries