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

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Backlash Compensation Section 9-8
9-8-2 Beginning Words of Operating Memory Area, Operating Data
Area, and Parameter Areas
The beginning words of the operating memory area, operating data area, and
common parameter area used for a Position Control Unit (PCU) are deter-
mined (or set) according to the following.
• Beginning word of the operating memory area, n = CIO 2000 + 10
×
unit
number
• Beginning word of the common parameter area, m = 100
×
unit
number
• Beginning word of the operating data area, l, is specified in m and m+1.
Set the beginning words of the operating data area and designate the axis
parameters used with the common parameters as shown below.
9-8-3 Setting Axis Parameters
9-8-4 Backlash Compensation Operation
Reciprocating Operation on One Axis
Word Name Bit Reference
m Operating data area
designation 00 to 15 SECTION 4
m+1 Beginning word of
operating data area 00 to 15
m+2 Axis parameter
designation 00 to 15
Data Parameter area for each axis Bit Data Configuration
NC113 NC213 NC413
X axis Y axis Z axis U axis
Backlash com-
pensation m+16 m+44 m+72 m+100 00 to 15
Backlash com-
pensation
speed m+17
m+18 m+45
m+46 m+73
m+74 m+101
m+102 00 to 15
(rightmost)
00 to 15
(leftmost)
15 00
Backlash compensation
Setting range:
0000 to 270F Hex
(0000 to 9,999 pulses)
15 00 Leftmost 15 00 Rightmost
Setting range:
00000000 to 0007A120 Hex
(0 to 500,000 pps)
Backlash compensation speed
Speed
Time
Period of movement by
backlash compensation