Omron CJ1W-NC271 - 12-2009, Operation Manual

Page: 576 / 687

548
List of Parameters
Appendix B
Pn07E Reserved --- Do not change. 0 --- --- ---
Pn07F Reserved --- Do not change. 0 --- --- ---
Pn100 Backlash
Compensa-
tion Selec-
tion 2 Enables or disables the backlash compensation for position con-
trol, and sets the compensation direction. 0 --- 0 to 2 Offline
0 Disabled
1 Compensates in the initial positive direction after the
Servo ON.
2 Compensates in the initial negative direction after the
Servo ON.
Pn101 Backlash
Compensa-
tion 2 Sets the backlash compensation amount for position control. 0 Com-
mand
units
−
32768 to
32767
Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn102 Backlash
Compensa-
tion
Time Con-
stant 2 Sets the backlash compensation time constant for position
control. 0 0.01
ms 0 to 6400 Online
Pn103 Reserved --- Do not change. 0 --- --- ---
Pn104 Soft Limit 2 Enables or disables the soft limit.
When enabled, the soft limit values are set in Forward Software
Limit (Pn201) and Reverse Software Limit (Pn202).
Note The response value for limit signals disabled by this set-
ting will be set to 0. The response value for limit signals is
also set to 0 when the Servomotor does not complete its
return to origin.
0 --- 0 to 3 Online
0 Enable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
1 Disable the Forward Software Limit (Pn201), enable the
Reverse Software Limit (Pn202)
2 Enable the Forward Software Limit (Pn201), disable the
Reverse Software Limit (Pn202)
3 Disable both the Forward / Reverse Software Limits
(Pn201 and Pn202)
Pn105 Origin
Range 2 Sets the threshold for detecting the origin (ZPOINT) in absolute
values.
ZPOINT = 1 when the return to origin completes (coordinate sys-
tem setup is complete) and the feedback position is within the set-
ting range of this parameter. 10 Com-
mand
units 0 to 250 Online
Pn106 Reserved --- Do not change. 0 --- --- ---
Pn107 Linear
Accelera-
tion
Constant 2 Sets the acceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to an unsigned 16-bit
data (0 to 65535).
Example:
−
32768
→
8000h = 32768
−
1
→
FFFFh = 65535
100
×
10000
[com-
mand
units/
s
2
]
−
32768 to
32767
Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn108 Reserved --- Do not change. 0 --- --- ---
Pn109 Reserved --- Do not change. 0 --- --- ---
Pn10A Linear
Decelera-
tion Con-
stant 2 Sets the deceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to an unsigned 16-bit
data (0 to 65535).
Example:
−
32768
→
8000h = 32768
−
1
→
FFFFh = 65535
100
×
10000
[com-
mand
units/
s
2
]
−
32768 to
32767
Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn10B Reserved --- Do not change. 0 --- --- ---
Pn10C Reserved --- Do not change. 0 --- --- ---
Pn10D Reserved --- Do not change. 0 --- --- ---
Param-
eter
No.
Parameter
name
Param-
eter
size
Setting Explanation Default
setting
Unit Setting
range
Enable
setting Details
Value
of
Pn100
Pn101 = Positive
number
Pn101 = Negative
number
1 Compensates in posi-
tive direction during
rotation in positive
direction Compensates in nega-
tive direction during
rotation in positive
direction
2 Compensates in posi-
tive direction during
rotation in negative
direction Compensates in nega-
tive direction during
rotation in negative
direction