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

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Application Examples Section 11-3
When the Servo Parameters are being read, these EM words are used to
store the parameter list read from the Servo Drive. These words are also used
to store the Servo Parameters that were read and set the Servo Parameters
that will be written.
Index Registers (IR)
IR6 to IR8
The Index Registers are used to reference the Servo Parameter list and refer-
ence the EM Area addresses that contain the parameter data being read/writ-
ten.
Work Area (WR Area)
Write Axis 1 Servo Parameters: W400.00 to W400.06
Read Axis 1 Servo Parameters: W401.00 to W401.06
Save Axis 1 Servo Parameters: W402.00 to W402.06
Write Axis 2 Servo Parameters: W410.00 to W410.06
Read Axis 2 Servo Parameters: W411.00 to W411.06
Save Axis 2 Servo Parameters: W412.00 to W412.06
Batch transfer sequence stepping: W500.00 to W500.10
These Work Area bits are used to show the progress of function execution
and the execution status.
Holding Area (HR Area)
Axis 1 Transfer Function Selection: H10.00 to H10.02
Axis 2 Transfer Function Selection: H11.00 to H11.02
These bits are used to select the Servo Parameter transfer function for each
axis.
The following table shows how the status of bits H10.00 to H10.02 and
H11.00 to H11.02 specify the Servo Parameter transfer function in this sample
program.
A different transfer function can be selected for each axis and executed for 2
axes simultaneously.
Different transfer functions cannot be performed at the same time on a single
axis. If bits 00 to 02 are all OFF or more than one bit is ON, the transfer func-
tion will not be executed for that axis.
Also, when executing this sample program, always transfer the Servo Parame-
ters for 2 axes.
CIO 0510.00 is used as the Servo Parameter Batch Transfer Start Switch.
Parameter List In this program, the parameter list for the Read Servo Parameters function is
stored in the CPU Unit's EM Area as follows.
The beginning words of the parameter list specify the parameter number
and parameter size of each parameter.
+0: Parameter number (hex)
+1: Parameter size
The parameter number and size are specified in order for all of the param-
eters being transferred.
At the end of the parameter list, the parameter size is set to 0000 hex.
Transfer function Axis 1 Axis 2
H10.00 H10.01 H10.02 H11.00 H11.01 H11.02
Write Servo Parameter 1 0 0 1 0 0
Read Servo Parameter 0 1 0 0 1 0
Save Servo Parameter 0 0 1 0 0 1