Omron CJ1W-NC271 - 12-2009, Operation Manual

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Axis Operating Output Memory Areas
Section 4-7
4-7 Axis Operating Output Memory Areas
The Axis Operating Output Memory Areas contain outputs used to set opera-
tion for the Servo Drive and Servomotor axes that are connected using
MECHATROLINK communications. These outputs include operating com-
mands, such as direct operation, ORIGIN SEARCH, and JOG, and related
position and speed command values.
4-7-1 Axis Operating Output Memory Area Overview
The Axis Operating Output Memory Areas are allocated 25 words per axis in
the CPU Unit's memory area set in the PCU's Common Parameters (Axis
Operating Output Memory Area designation, beginning word of Axis Operat-
ing Output Memory Area).
The designated beginning word corresponds to the beginning word of the
area for axis 1, and the other areas are allocated words in sequence up to the
highest axis number registered in the scan list. For details on area allocations,
refer to
6-2-2 Scan List and PCU Area Allocations .
The beginning words of the Axis Operating Output Memory Areas are deter-
mined by the axis number of each axis using the following equation.
Beginning Word of Axis Operating Output Memory Area for Axis N:
a= Beginning word of Axis Operating Output Memory Area specified in Com-
mon Para (N
−
1)
×
25 (N = 1 to 16)
Axis 1 No. 1
Axis 2 No. 2
Axis 3 No. 3
Axis 4 No. 4
Axis 14 No. 14
Axis 15 No. 15
Axis 16 No. 16
Word a+0
Word a+1
Word a+24
Word a+25
Word a+26
Word a+49
Word a+(N-1)
×
25
Word a+(N-1)
×
25+1
Word a+(N-1)
×
25+24
Word a+375
Word a+376
Word a+399
Axis
No.
MECHATROLINK
station address No.
: :
Axis Operating Output Memory
Area Allocations
Axis 1
Operating
Output
Memory Area
Axis 2
Operating
Output
Memory Area
:
:
Axis N
Operating
Output
Memory Area
Axis 16
Operating
Output
Memory Area
:
:
:
:
a = Beginning word of Axis Operating Output Areas specified in Common Parameters