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

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Overview Section 11-1
11-1 Overview
This section shows sample programs that execute the various PCU functions
from the ladder program.
Refer to 11-2 Basic Program Examples for descriptions of the sample ladder
program sections containing the functions. Refer to 11-3 Application Exam-
ples for sample programs that combine those various program sections.
This section explains the example system and conditions used for the sample
programs.
Note The sample programs shown in this section use the PCU's functions and are
configured only with ladder programs related to the interface between the PLC
and PCU.
When creating the program for the actual equipment in the system, add pro-
gram sections to perform tasks such as interlocking the equipment's move-
ment, managing I/O from other equipment, and controlling operation so that
the program will provide the required operating commands to the PCU.
In addition, always test the new program thoroughly to verify proper operation
before switching to full-scale operation in the system.
Devices in the Sample System
Position Control Unit CJ1W-NCF71
Unit number: 0 (Beginning word of Common Operating Memory Area: CIO
1500)
Only one PCU is used in the PLC.
When a different unit number is required, use the following equation to deter-
mine the beginning word of Common Operating Memory Area.
Beginning word of Common Operating Memory Area: n = 1500 + (unit
number
×
25)
MECHATROLINK Devices
(Servo Drives) W-series Servo Drive (R88D-WT @ )
JUSP-NS115 MECHATROLINK-II Application Module mounted to Servo
Drive
Axis 1 (MECHATROLINK-II station address 1) is used to demonstrate axis
operation in these sample ladder programs.
When a different number of axes or station number is required, use the follow-
ing equation to determine the beginning CIO word addresses for each axis.
Beginning word of Axis Operating Output Memory Area for Axis N:
Beginning word of Axis Operating Output Areas specified in Common Pa-
ra (Axis No.
−
1)
×
25
Beginning word of Axis Operating Input Memory Area for Axis N:
Beginning word of Axis Operating Input Areas specified in Common Pa-
ra (Axis No.
−
1)
×
25
Refer to 11-3-1 Initial PCU Settings for an example that shows how to set the
beginning words of Axis Operating Input/Output Areas.
The standard settings are used for the Servo Drive's I/O signals; for details on
the standard settings, refer to
6-4 Standard Settings for Servo Drives Using
MECHATROLINK .
CPU Unit Model number: CJ1H-CPU @@
In 11-3 Application Examples , the CPU Unit's EM Area is used to store the
PCU's Common Parameter, Axis Parameter, and Servo Parameter data.
If the CJ1H-CPU @@ CPU Unit being used is not equipped with an EM Area,
change the storage area to an unused section of the DM Area.