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

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Operation Area I/O Allocations Appendix C
Output
(CPU
Unit to
PCU) a+2 --- Operating
data for
position
control Position command
value (rightmost
word) Position command value (rightmost word)
Position command value (leftmost word)
Unit: command unit
a+3 --- Position command
value (leftmost word)
a+4 --- Speed command
value (rightmost
word) Speed command value (rightmost word)
Speed command value (leftmost word)
Unit: Command units/s
a+5 --- Speed command
value (leftmost word)
a+6 --- Speed con-
trol data Speed command
value for speed con-
trol (rightmost word) Speed command value (rightmost word)
Speed command value (leftmost word)
Unit: 0.001%
a+7 --- Speed command
value for speed con-
trol (leftmost word)
a+8 --- Torque con-
trol data Torque command
value
(rightmost word) Torque command value (rightmost word)
Torque command value (leftmost word)
Unit: 0.001%
a+9 --- Torque command
value (leftmost word)
a+10 --- Position/
speed/
torque con-
trol data Option command
value 1
(rightmost word) Linear interpolation:
Interpolation acceleration time, Unit: ms
Speed control:
Torque limit/torque feed forward, Unit: %
Torque control:
Speed limit, Unit: 0.001%
a+11 --- Option command
value 1
(leftmost word)
a+12 --- Option command
value 2
(rightmost word) Linear interpolation:
Interpolation deceleration time, Unit: ms
Speed control:
Torque limit, Unit: % a+13 --- Option command
value 2
(leftmost word)
a+14 --- Operating
data for
special
function Override Override ratio (unit: 0.01%)
a+15 00 to 03 Operating
data for
expanded
monitoring Monitor 1 type Specifies monitor type for monitor 1.
04 to 07 Monitor 2 type Specifies monitor type for monitor 2.
08 to 15 Not used (reserved
by the system). ---
I/O Word Bits Category Name Function