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

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Application Examples Section 11-3
Holding Area (HR Area)
H0.00
Used as a switch to enable/disable the initial PCU settings function.
I/O Bits
Restart Communications:400.00
Stop Communications:
400.01
When the corresponding I/O bit goes ON, stopped MECHATROLINK commu-
nications are restarted or established MECHATROLINK communications are
stopped.
This sample program writes the following Common Parameters and Axis
Parameters (initial settings).
Common Parameters
Scan List: Registers Servo Drives to axes 1 and 2 (station numbers 1 and
2).
Beginning word of Axis Operating Output Memory Area: CIO 0000
Beginning word of Axis Operating Input Memory Area: CIO 1000
MECHATROLINK communications settings:
Transfer cycle: 1 ms
Communications cycle:
×
2 (1 ms
×
2 = 2 ms)
Number of communications retries: 0 (1 retry)
C2 Master connection: 0 (No C2 Master)
Axis Parameters for Axes 1 and 2 (Shared by both Axes.)
Origin input signal selection: 00 (Phase Z)
Interrupt input signal selection: 01 (External latch signal 1 input)
Origin search direction: 0 (Forward)
Origin search operation mode: 1 (Reversal mode 2)
Encoder type: 0 (Incremental encoder)
The following parameter settings must be written in advance to the CPU Unit's
EM Area words E0_00000 to E0_00079.
EM word Set value Item Details
E0_00000 00B0 hex Common Parameters
Axis Operating Output Memory Area
designation
Sets the beginning word of the Axis Operating
Output Memory Areas to CIO 0000.
Axis 1 output words: CIO 0000 to CIO 0024
Axis 2 output words: CIO 0025 to CIO 0049
E0_00001 0000 hex Common Parameters
Beginning word of Axis Operating Out-
put Memory Areas
E0_00002 00B0 hex Common Parameters
Axis Operating Input Memory Area des-
ignation
Sets the beginning word of the Axis Operating
Input Memory Areas to CIO 1000.
Axis 1 input words: CIO 1000 to CIO 1024
Axis 2 input words: CIO 1025 to CIO 1049
E0_00003 03E8 hex Common Parameters
Beginning word of Axis Operating Input
Memory Areas
E0_00004 4040 hex Common Parameters
Scan list setting (axes 1 and 2)
Allocates axes 1 and 2 to the Servo Drive.
E0_00005 to
E0_00011 0000 hex Common Parameters
Scan list setting (axes 3 to 16)
E0_00012 to
E0_00029 0000 hex Not used. This part of the Common Parameters is
unused.
Set all words to 0000 hex.