Omron CS1W-MCH71 -, Operation Manual

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334
Command Details
Section 6-3
Operand Axis Name: J01 to J32
Note (1) With Rated % specification (P00004 bit2 = 0):
This is the % specification for the motor rated rotations in the unit of
0.01%. The setting range is
−
500000 to 500000.
If the value I0000 is set, it is interpreted as 100% of the rated rotations.
The maximum speed in actual operations is limited by the maximum ro-
tation speed of the motor.
With r/min specification (P00004 bit2 = 1):
This is the specification of rotations (r/min) in the unit of 0.01 r/min. Set-
ting range is
−
10000000 to 10000000.
If the value 300000 is set, it is interpreted as 3000r/min.
The maximum speed in actual operations is limited by the maximum ro-
tation speed of the motor.
(2) Word data is extended to long word data with a sign in the MC Unit.
(3) With Rated % specification (P00004 bit2 = 0)
The minimum command unit is 0.01%.
The actual value = (Decimal immediate value or Variable of real number
type)
×
10
2
)
Figures below the decimal point are to be omitted.
In case of r/min specification (P00004 bit2 = 1)
The minimum command unit is 0.01%.
The actual value = ((Decimal immediate value or Variable of real number
type)
×
10
2
)
Figures below the decimal point are to be omitted.
(4) There is no influence. ABL specification is always used.
Description • The speed command is output to the specified axis.
• The speed command unit is specified in the parameter [P00004.bit02:
Unit function select, Speed command value]
[P00004.bit02] = 0 [0.01% of the rated speed]
[P00004.bit02] = 1 [0.01r/min]
• If Speed change rate is set to 0, the specified speed is output instantly. (If
the mode is switched from other mode to the speed control mode, this
value can be used as the output speed default value.)
• The Speed change rate is enabled for all the specified axes.
• SPEED command execution will be completed when the speed command
for all the specified axes reaches Speed command value.
• The SPEEDR command is processed as follows:
(1) The speed command is decelerated for all specified axes according to
the speed change rate and the speed command is output as 0.
(2) The system waits until the feedback speed equals the speed in P3AA09
or lower.
(3) The mode is switched to positioning control mode and the system waits
for the completion of positioning.
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Speed command
value See note 1. Yes No Yes (See
note 2.) Yes Yes (See
note 3.) Yes No (See
note 4.)
Speed change rate 0 to 60000ms No No Yes (See
note 2.) Yes Yes Yes No