Omron CS1W-213 - REV 02-2008, Operation Manual

Page: 116 / 401

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Axis Parameter Area Section 4-3
Positioning Monitor Time
Word Address and Enable
Timing The word addresses and enable timing for the positioning monitor time setting
is shown below.
Bit Configuration The bit configuration for the word addresses in the above table is shown
below.
Settings The origin search positioning monitor time can be set to any time in the follow-
ing range:
0000 to 270F Hex (0 to 9,999 ms)
The default setting is 270F (9,999).
Explanation In operation mode 2 or 3 (using the motor driver’s positioning completed sig-
nal), after positioning operation has been completed (i.e., after pulse output
has been completed), the positioning completed signal will be monitored for
the time specified here. If the motor driver’s positioning completed signal does
not turn ON within this time, a positioning timer timeout error (error code
8600) will be generated. The positioning monitor time is set in the range 0 to
9,999 ms as 16-bit unsigned data.
If the positioning monitor time is set to 0, operation will proceed in one of the
following ways, depending on the kind of operation being performed.
• Origin search operation: Waits until positioning completed signal turns
ON.
• Other operation (jogging, direct operation, etc.): Positioning completed
signal ignored.
Software Limits
Word Address and Enable
Timing The word addresses and enable timing for the software limit settings are
shown below.
Word
(PCU internal address)
Name Enable timing
NC1
@
3 NC2
@
3 NC4
@
3
X axis Y axis Z axis U axis
m+24
(0018) m+52
(0034) m+80
(0050) m+108
(006C) Positioning monitor
time With operating com-
mand
15 00
Positioning monitor time (Hex)
Word
(PCU internal address)
Name Enable timing
NC1 @ 3 NC2 @ 3 NC4 @ 3
X axis Y axis Z axis U axis
m+25
(0019) m+53
(0035) m+81
(0051) m+109
(006D) CCW software limit
(rightmost word) With operating com-
mand
m+26
(001A) m+54
(0036) m+82
(0052) m+110
(006E) CCW software limit
(leftmost word) With operating com-
mand
m+27
(001B) m+55
(0037) m+83
(0053) m+111
(006F) CW software limit
(rightmost word) With operating com-
mand
m+28
(001C) m+56
(0038) m+84
(0054) m+112
(0070) CW software limit
(leftmost word) With operating com-
mand