Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 275 / 687

247
MECHATROLINK Settings
Section 6-2
If the settings of the transfer cycle and communications cycle are smaller than
the values given in the following table when the absolute encoder zero point
position offset is set using an origin search operation, the offset may not be
calculated correctly and the position of the origin may not be correct.
Note (1) 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.
(2) The above table gives values for when an absolute encoder zero point po-
sition offset is set using an origin search operation when a Position Con-
trol Unit of unit version 2.0 is used. If this function is not being used, set
the transfer cycle and communications cycle based on the table on page
245.
(3) The communications cycle values shown in the above table are the set
values for W-series Servo Drives. The minimum communications cycle
values for G5-series Servo Drives and G-series Servo Drives are the
same as those indicated in the table above, but refer to the table on page
245 for the minimum transfer cycles.
(4) The settings of the transfer cycle and communications cycle have a large
effect on the PCU’s command response time. (Refer to Command Re-
sponse Time in Appendix A Performance Characteristics. ) As shown in
the above table, the communications cycle (time) must be increased, e.g.,
particularly when linear interpolation is used at the same time as an origin
search is used to set the absolute encoder zero point position offset (for
different axes). The affect on system performance must thus be consid-
ered when making the settings. If it is not possible to increase the com-
munications cycle, provide an interlock circuit between the operation of
different axes so that linear interpolation is not performed for one axis
Number of
devices
connected
Min. set values when setting the absolute encoder zero point position offset using an origin search
Linear interpolation not
performed at the same
time
Linear interpolation
performed at the same
time for one set of axes
Linear interpolation per-
formed at the same time
for two sets of axes
During online monitor-
ing with the CX-Motion-
NCF
Minimum
transfer
cycle set
value
Minimum
communi-
cations
cycle value
Minimum
transfer
cycle set
value
Minimum
communi-
cations
cycle value
Minimum
transfer
cycle set
value
Minimum
communica-
tions cycle
value
1 0.5 ms 1.0 ms (2) 0.5 ms 3.0 ms (6) --- --- Communications cycle
time on the left + 1.0 ms
2 0.5 ms 1.0 ms (2) 0.5 ms 4.0 ms (8) --- ---
3 0.5 ms 2.0 ms (4) 0.5 ms 5.0 ms (10) --- ---
4 1.0 ms 2.0 ms (2) 1.0 ms 5.0 ms (5) --- ---
5 1.0 ms 2.0 ms (2) 1.0 ms 6.0 ms (6) 1.0 ms 7.0 ms (7)
6 1.0 ms 3.0 ms (3) 1.0 ms 6.0 ms (6) 1.0 ms 8.0 ms (8)
7 1.0 ms 3.0 ms (3) 1.0 ms 6.0 ms (6) 1.0 ms 9.0 ms (9)
8 1.0 ms 3.0 ms (3) 1.0 ms 7.0 ms (7) 1.0 ms 10.0 ms (10)
9 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6) Same as on the left
10 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6) Communications cycle
time on the left + 2.0 ms
11 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6)
12 2.0 ms 4.0 ms (2) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6)
13 2.0 ms 6.0 ms (3) 2.0 ms 8.0 ms (4) 2.0 ms 12.0 ms (6)
14 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 12.0 ms (6)
15 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 12.0 ms (6)
16 2.0 ms 6.0 ms (3) 2.0 ms 10.0 ms (5) 2.0 ms 14.0 ms (7) Same as on the left