Omron CJ1W-NC271 - 12-2009, Operation Manual

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Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433
Appendix E
Interrupt Feeding
Interrupt feeding in earlier PCUs is executed by independently operating individual start bits. With
CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding is an additional function for the direct opera-
tion (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT).
To execute interrupt feeding, turn ON the Interrupt Feeding Designation Bit in the Axis Operating Output Mem-
ory Area and execute ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
When using earlier PCUs, interrupt feeding functions by switching from speed control to position control (posi-
tioning is performed for the amount of interrupt feeding after detection of the interrupt input signal). With
CS1W/CJ1W-NC271/471/F71 PCUs, however, interrupt feeding functions by switching from one position con-
trol operation (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) to another position control operation
(positioning is performed for the amount of interrupt feeding after detection of the interrupt input signal), and if
an interrupt input signal is not input, the original positioning operation is completed.
Memory Operation
Memory operation functions are not provided in CS1W/CJ1W-NC271/471/F71 PCUs.
The teaching function, forced interrupt operation, and output codes, which are related to memory operations,
are also not provided.
Operations that use automatic patterns and continuous patterns must be created in the user program.
Jogging
Acceleration/Deceleration Settings
In earlier PCUs, the acceleration/deceleration settings for jogging are specified as operation data in the Oper-
ating Data Area when jogging is started. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are
set in the Servo Parameters (using Servo Parameter transfer functions).
Details on acceleration/deceleration settings are the same as those provided for position control (direct opera-
tion), so refer to the section on position control (direct operation).
Changing Target Speed
The target speed can be changed during jogging operations in the same way for both earlier PCUs and the
CS1W/CJ1W-NC271/471/F71 PCU by using the following operation.
Changing target speed: Change the Speed Command Value parameter during jogging operations to
immediately change the target speed. (Strictly speaking, the new target speed
is to be set in Speed of the Operating Data Area for earlier PCUs while it is set
in Speed Command Value in the Axis Operating Output Memory Area for
CS1W/CJ1W-NC271/471/F71 PCUs.)
Present Position
Earlier PCUs use open-loop control, and monitor the command position (PCU's output pulses) as the present
position. CS1W/CJ1W-NC271/471/F71 PCUs exchange data with Servo Drives that have a semi-closed loop
configuration. Therefore, both the feedback present position (total of feedback pulses from the Servomotor's
encoder) and command present position (total of PCU's position command values) are monitored as the
present position.
Data Transfer
In earlier PCUs, all the parameters set by the PCU are in the Unit, and data is transferred using the PCU's data
transfer functions (data transfer bit or IOWR instruction).
In CS1W/CJ1W-NC271/471/F71 PCUs, however, data is classified into three types: Common Parameters, Axis
Parameters, and Servo Parameters. Common Parameters and Axis Parameters are configured in the PCU,
and Servo Parameters are configured in the Servo Drive. Therefore, the transfer functions used to transfer the
parameters in the PCU are different than those used to transfer the parameters in the Servo Drive.