Omron CS1W-MCH71 -, Operation Manual

Page: 150 / 717

105
Variables
Section 4-3
• When Communications cycle: Unit Cycle = 1:2, 11 scans
Note The delay of the NS115, 2 scans for the uplink and 1 scan for the
downlink, is added to the value showed in
1-7 Performance .
• Gear reverse conversion: Previous Pulse a Command unit conversion for-
mula
Example)
When Communications cycle = 1 ms, Unit Cycle = 2 ms (1:2), No. of en-
coder pulses = 65536
Command unit/One machine rotation = 10000, and gear ratio 1 = gear ratio
2 = 1:
The speed that causes A94 = 32767/11*(10000/65536)
×
60
×
1000 = Ap-
proximately 27271895 [Command unit/min]
4-2-5 Timing that Enables Transferred System Parameters
Note Make sure to turn the MC Unit power OFF once, and then ON again after sys-
tem parameters have been transferred. The unit parameters and machine
parameters will not change unless the power is turned back ON.
The parameters that are marked 'Yes' on the immediate updating columns can
be changed without the power OFF/ON.
• A part of motion task parameters
• Axis
−
speed parameters
• A part of Axis
−
position parameters
• A part of Axis
−
machine parameters
4-3 Variables
There are six types of MC Unit variables as shown below:
• Position data
• System variables
• Global general variables
• Input variables
• Output variables
• Task variables
4-3-1 Overview of Variables
Name Purpose Size Backup to
FLASH ROM
R/W
Global variables
Position Data Data to indicate positions. 10240 positions
(40960 byte) YES R/W
System vari-
ables Status of MC Unit such as operating modes,
error logs, etc. 2048 words
(4096 byte) NO R
Global general
variables Can be accessed from all the tasks, and
used for Communicating data between oper-
ations and tasks. 8192 words
(16384 byte) NO R/W
Input variables Status of the input from CPU Unit or
MECHATROLINK-II devices. 4096 words
(8192 byte) NO R/W
Output variables Outputs for CPU Unit or MECHATROLINK-II
are executed from a program.
4096 words
(8192 byte) NO R or R/W