Omron CJ1W-NC271 - 12-2009, Operation Manual

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PCU Data Settings for Direct Operation
Section 9-3
First-step acceleration/deceleration curve operations require parameter set-
tings for Pn80B and Pn80E only. For the acceleration/deceleration curve,
Pn810 and Pn811 must be set when using an exponential curve, and Pn812
must be set when using an S-curve.
The SMARTSTEP Junior Servo Drives do not support the following parame-
ters: Pn80A, Pn80C, Pn80D, and Pn80F. They also do not support accelera-
tion/deceleration filters, so the filters cannot be set. One-step linear
acceleration/deceleration curves are set using only Pn80B and Pn80E.
For details on acceleration/deceleration curves, refer to 7-4 Acceleration and
Deceleration Operations .
Control Status Parameters
Minimum Limit Settings
Under the following conditions, the Servo Parameters listed above, apart from
Pn80B, Pn80E, and Pn500/Pn522, are used with the default settings and do
not need to be changed.
• Command unit: Pulse
• Acceleration/deceleration curve: Linear acceleration/deceleration for a
single step only (trapezoidal curve)
Axis Operating Output Memory Areas (Operating Commands)
Model Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting
R88D-KN
@
-
ML2
Pn431 Positioning completion range 1 Command unit 0 to 262144 4 300
R88D-GN
@
-
ML2
Pn060 Positioning completion range 1 Command unit 0 to 10000 2 25
R88D-WT
@
Pn500 Positioning completion range 1 Command unit 0 to 250 2 3
R88D-WN
@
-
ML2
Pn522 Positioning completion range 1 Command unit 0 to
1073741824 4 3
SMART-
STEP Junior Pn522 Positioning completion range 1 Command unit 0 to
1073741824 4 10
Name Word Bits Contents G5 Series
G Series
W Series SMARTST
EP Junior
ABSOLUTE MOVEMENT a 03 0
→
1: Starts absolute movement. Supported Supported Supported
RELATIVE MOVEMENT 04 0
→
1: Starts relative movement. Supported Supported Supported
INTERRUPT FEEDING 05 1: Enables interrupt feeding. Supported Supported Supported
Position command value a+2
a+3 --- Position command value (right-
most word)
Position command value (leftmost
word)
Unit: Command unit
Command range:
−
2,147,483,648
to 2,147,483,647 (80000000 hex
to 7FFFFFFF hex)
The command value is limited by
the allowable positioning range
when using RELATIVE MOVE-
MENT.
(For details, refer to 9-4-1 Starting
Direct Operation .)
Supported Supported Supported