Omron CJ1W-NC271 - 12-2009, Operation Manual

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124
Servo Parameter Area
Section 4-5
Pn031 Gain Switch
Setting (RT) 2 Sets the trigger for gain switching.
The details depend on the control mode. 2 --- 0 to 10 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
0 Always Gain 1
1 Always Gain 2
2 Switching from the network
3 Amount of change in torque command
4 Always Gain 1
5 Speed command
6 Amount of position deviation
7 Position command pulses received
8 Positioning Completed Signal (INP) OFF
9 Actual Servomotor speed
10 Combination of position command pulses received and
speed
Pn032 Gain Switch
Time (RT) 2 Enabled when the Gain Switch Setting (Pn031) is set to 3, or 5 to
10. Sets the lag time from the trigger detection to actual gain
switching when switching from gain 2 to gain 1. 30
×
166
μ
s
0 to 10000 Online
Pn033 Gain Switch
Level Set-
ting (RT) 2 Sets the judgment level to switch between Gain 1 and Gain 2
when the Gain Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
The unit for the setting depends on the condition set in the Gain
Switch Setting (Pn031). 600 -- 0 to 20000 Online
Pn034 Gain Switch
Hysteresis
Setting (RT) 2 Sets the hysteresis of the judgment level for the Gain Switch Level
Setting (Pn033) when the Gain Switch Setting (Pn031) is set to 3,
5, 6, 9, or 10. The unit for the setting depends on the condition set
in the Gain Switch Setting (Pn031). 50 --- 0 to 20000 Online
Pn035 Position
Loop Gain
Switching
Time (RT) 2 This parameter can prevent the position loop gain from increasing
suddenly when the position loop gain and position loop gain 2 dif-
fer by a large amount.
When the position loop gain increases, it takes the duration of (set
value + 1)
×
166
μ
s.
20
×
166
μ
s
0 to 10000 Online
Pn036 Reserved --- Do not change. 0 --- --- ---
Pn037 Reserved --- Do not change. 0 --- --- ---
Pn038 Reserved --- Do not change. 0 --- --- ---
Pn039 Reserved --- Do not change. 0 --- --- ---
Pn03A Reserved --- Do not change. 0 --- --- ---
Pn03B Reserved --- Do not change. 0 --- --- ---
Pn03C Reserved --- Do not change. 0 --- --- ---
Pn03D Jog Speed 2 Sets the jog operation speed with the Parameter Unit or CX-Drive.
Note Jog operation is only available when the network is not
established. Do not try to establish the network while
using jog operation. Otherwise, command alarm (alarm
code 27) will occur.
200 r/min 0 to 500 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn03E Reserved --- Do not change. 0 --- --- ---
Pn03F Reserved --- Do not change. 0 --- --- ---
Pn040 Reserved --- Do not change. 0 --- --- ---
Pn041 Emergency
Stop Input
Setting 2 Enables the Emergency Stop Input (STOP).
Note If this function is disabled, the response status will always
be 0 (disabled).
1 --- 0, 1 Offline
0 Disabled.
1 Enabled (alarm code 87 issued on OPEN)
Pn042 Origin Prox-
imity Input
Logic Set-
ting 2 Sets the logic for the Origin Proximity Input (DEC). 1 --- 0, 1 Offline
0 N.C contact (origin proximity detected on OPEN)
1 N.O contact (origin proximity detected on CLOSE)
Pn043 Operating
Direction
Setting 2 Sets the relationship between polarity of operation data sent over
the network and the direction of Servomotor rotation.
Note In RS-232C communications and on the analog monitor
(SP, IM) on the front panel, forward direction is always
positive (+), and reverse rotation is always negative (
−
).
1 --- 0, 1 Offline
0 Disabled.
1 Enabled (alarm code 87 issued on OPEN)
Param-
eter
No.
Parameter
name
Param-
eter
size
Setting Explanation Default
setting
Unit Setting
range
Enable
setting Details