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

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Control Units Section 7-2
For details on specifications, refer to the corresponding operation manuals for
the Servo Drive and Servomotor.
7-2-3 Units of the PCU's Main Controlled Variables
The units for speed and torque depend on the control mode (position, speed,
or torque control). For details, refer to
10-5 Speed Control , and 10-6 Torque
Control .
Note The resolution of the controlled variables that can be monitored by the PCU
depends on the specifications of the connected Servo Drive.
For example, when using a W-series Servo Drive equipped with a JUSP-
NS115 MECHATROLINK-II Application Module, the minimum resolution for
the command speed monitor value and feedback speed in position/torque
control is 1,000 command units/s.
Function Category Controlled variable Unit Details
Common Servo Parame-
ter data Torque limit value % (percentage of Servomo-
tor's rated torque)
Monitor value Feedback present position Command unit ---
Command present position Command unit ---
Position deviation Command unit ---
Position control Command value Position command value Command unit ---
Speed command value Command units/s ---
Servo Parame-
ter data Acceleration
10,000 command units/s
2 ---
Deceleration
10,000 command units/s
2 ---
Zero point return approach
speed 1 100 command units/s ---
Zero point return approach
speed 2 100 command units/s ---
Monitor value Speed monitor value Command units/s ---
Torque monitor value % (percentage of Servomo-
tor's rated torque)
Speed control Command value Speed command value (for
speed control)
0.001% (percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Torque limit value
(option command value) % (percentage of Servomo-
tor's momentary maxi-
mum torque)
Monitor value Speed monitor value 0.001% (percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Torque monitor value % (percentage of Servomo-
tor's rated torque)
Torque control Command value Torque command value 0.001% (percentage of Servomo-
tor's momentary maxi-
mum torque)
Speed limit value
(option command value) 0.001% (percentage of Servomo-
tor’s momentary maxi-
mum rotation speed)
Monitor value Speed monitor value Command units/s ---
Torque monitor value 0.001% (percentage of Servomo-
tor's momentary maxi-
mum torque)