Omron CJ1W-NC271 - 12-2009, Operation Manual

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Transferring Servo Parameters
Section 5-3
• Reading Servo Parameters during Origin Searches for Position Control
Units with Unit Version 2.0 or Later
When READ SERVO PARAMETER execution is completed, the Servo
Parameter Transferring Flag (word b, bit 14) turns OFF, and the contents of
the parameter that has been read is stored in the read data words (words
b+14, b+15).
If an error occurs while transferring Servo Parameters, the Error Flag (word b,
bit 12) or the Warning Flag (word b, bit 11) will turn ON, and the correspond-
ing axis error (warning) code will be input in word b+4 of the Axis Operating
Input Memory Area. Check the error code and perform appropriate trouble-
shooting.
Note With PCUs of unit version 1.2 or earlier, READ SERVO PARAMETER cannot
be executed when an axis error has occurred. READ SERVO PARAMETER
will be ignored if it is executed when an axis error has occurred.
With PCUs of version 1.3 or later, READ SERVO PARAMETER can be exe-
cuted even when an axis error has occurred. When the parameters are trans-
ferred, however, the Error Flag can no longer be used to determine if an error
has occurred during the transfer. It is thus necessary to read Servo Parame-
ters after resetting the error or, if parameters are read when there is an axis
error, then steps must be taken to confirm that the parameters were trans-
ferred correctly.
5-3-3 Saving Servo Parameters
When Servo Parameters are saved in the Servo Drive's non-volatile memory,
the settings are held even after the power is turned OFF and the next time the
power is turned ON, the previous settings will be recovered. Saving Servo
Parameter is treated as writing data to the Servo Drive's non-volatile memory.
Therefore, SAVE SERVO PARAMETER must be executed separately from
WRITE SERVO PARAMETER for each parameter.
2
0000
050A hex
2881 hex
Servo Parameter No. (Word a+17)
Parameter size (Word a+18)
READ SERVO PARAMETER Bit
(Word a+1, bit 13)
Servo Parameter Transferring Flag
(Word b, bit 14)
Busy Flag (Word b, bit 13)
Read data (rightmost word)
(Word b+14)
Read data (leftmost word)
(Word b+15)
The Servo Parameter Transferring Flag turns ON
for at least one cycle time when the command to
transfer the parameter is received.
The status of the Busy Flag does not change
when Servo Parameters are being read.
For a parameter size of two bytes, the read
parameters are saved in rightmost word (word b
+ 14) of the read data, and 0000 is saved in the
leftmost word (word b + 15).
When using Position Control Units with unit version
2.0 or later, any Servo parameter read operations
specified during an origin search will be performed
after the origin search has been completed.
READ SERVO PARAMETER Bit
(word a+1, bit 13)
Servo Parameter Transferring Flag
(word b, bit 14)
Busy Flag (word b, bit 13)
Origin search operation in progress Origin search operation completed