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MECHATROLINK Settings
Section 6-2
Note
(1) The set values in the above table apply when the default settings are used
for the number of communications retries (once) and C2 master connec-
tion (No C2 master).
(2) The values in parentheses in the
Minimum communications cycle value
column are the PCU's communications cycle set value (multiplier to ob-
tain integer multiples of the transfer cycle) used to set the minimum com-
munications cycle for the minimum transfer cycle set value.
(3) When using the R88D-WT
@
W-series Servo Drive and FNY-NS115 to-
gether, the SMARTSTEP Junior, or the R88D-GN
@
, set the communica-
tions cycle so that it is an integer multiple of 1.0 ms. When using the
R88D-WN
@
-ML2 W-series Servo Drive, set the communications cycle so
that it is an integer multiple of 0.5 ms.
(4) When connecting a G5-series Servo Drive, a G-series Servo Drive, W-se-
ries Servo Drive, or the SMARTSTEP Junior Servo Drive to the PCU, set
the transfer cycle to 4 ms max.
The PCU default settings are 1.0 ms for the transfer cycle and 3 for the com-
munications cycle (multiplier 3: 1.0 ms
×
3 = 3.0 ms). Without changing the
default settings, the G5-series Servo Drive, the G-series Servo Drive, W-
series Servo Drive (equipped with FNY-NS115 MECHATROLINK-II I/F Unit or
built-in MECHATROLINK-II communications), or the SMARTSTEP Junior
Servo Drive can be used for up to eight axes (axis numbers 1 to 8).
Note
(1) When using linear interpolation, set the communications cycle to a value
1 ms higher than the minimum value given in the above table. If the com-
munications cycle setting is too small, the command response time of the
Position Control Unit function may be greatly extended.
(2) The command response time for axes not used for linear interpolation will
be increased by up to four communications cycles per linear interpolation
combination being executed. This applies from when setting the linear in-
terpolation operation is started until linear interpolation is completed (i.e.,
while either the SETTING LINEAR INTERPOLATION Bit or the Linear In-
terpolation Executing Flag is ON).
Transfer Cycle and Communications Cycle When Setting the Absolute Encoder Zero Point Position
Offset Using an Origin Search Operation with Position Control Units with Unit Ver. 2.0
Make the settings according to the following table when using a Position Con-
trol Unit with unit version 2.0. For a Position Control Unit with unit version 2.1
or later, the same settings can be used for the communications cycle as when
not setting the absolute encoder zero point position offset using an origin
search operation.
If an absolute encoder zero point position offset is set using an origin search
operation for a motor with an absolute encoder, set the transfer cycle and
communications cycle according to the following table. The settings will
depend on the number of axes used and other functions that are executed
simultaneously. Refer to
8-6-5 Absolute Encoder's Origin (Zero Point) Position
Offset Setting
for details on the position offset setting.
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...