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

Page: 118 / 401

93
Operating Memory Area Section 4-4
quency, then this will cause position errors (due to the driver miscounting
pulses).
Example
The pulse output when performing jog operation with a parameter setting for
maximum speed of 500 kpps (default setting), acceleration time set to 0 s,
deceleration time set to 0 s, and speed set to 10 pps. The pulse-output wave-
forms are given for two cases: Case 1 is for when the initial pulse designation
is set to 0 and case 2 is for when it is set to 1. Although, the time from the
PCU receiving the startup instruction for jog operation from the CPU Unit until
internal processing is performed will be the same for the two cases, the time
for the first pulse will be reduced from 4 ms (250 pps) to 0.002 ms (500 kpps),
in other words the time required will be reduced by just under 4 ms.
4-4 Operating Memory Area
The operating memory area is the area in the CIO Area allocated to the out-
puts used for sending commands to the PCU and the inputs used for monitor-
ing PCU status.
4-4-1 Outline
The area allocated as the operating memory area is contained in the Special
I/O Unit Area within the CPU Unit’s CIO Area. The beginning word of the oper-
ating memory area is determined according to the unit number set for the
PCU according to the following equation.
Beginning word of operating memory area, n = 2000 + 100
×
unit number
The operating memory area is divided into outputs and inputs. Commands
related to operations are allocated to the output memory area, and the com-
mands are output to the Position Control Unit (PCU) when their respective bits
are turned ON, or at the rising edge (
↑
) when the bits are turned ON. The
PCU’s status and the status of external I/O are input from the PCU to the
operating memory area.
The memory allocation of the operating memory area is shown in the follow-
ing table. For details such as operation timing, refer to the section for the rele-
vant function.
PCU's internal processing
Command to start JOG operation
(CPU Unit PCU)
Case 1: Pulse output at 250 pps
Case 2: Pulse output at 500 kpps