Omron CS1W-MC221 -, Руководство по эксплуатации

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Overview of Version 1 Upgrades Section 1-12
• In Pass Mode or In-position Check Off Mode: Until the electronic gear
function advances to the next block.
• An error (number out of range) will occur if a value outside of the range
shown in the above table is set or if a value that cannot be specified is set.
Note An error will occur if a non-integer is specified for integer-only data.
An MPG ratio overflow error will occur if the value goes out of range when the
gear ratio is changed during axis operation using the electronic gear function.
Operation Specifications
Function The following calculations are performed every 2 ms in the servo cycle to
determine the output.
Input axis speed V: (p/2 ms) is calculated, integrated axis speed Vi (p/2 ms) is
added, and the result is output to output axis Vi (p/2 ms).
Output axis Vi = (Input axis Vi x Gear ratio num remainder) / Gear
ratio denom Integrated axis
Note The division results are truncated.
Remainder = (Input axis Vi x Gear ratio num remainder)
−
Gear
ratio denominator x Output axis Vi
If the output direction is negative (i.e., if the input axis Vi x gear ratio numera-
tor + remainder < 0), 1 is subtracted and linearity is maintained.
Output axis Vi = (Input axis Vi x Gear ratio num remainder
−
1) /
Gear ratio denom integrated axis Vi
Remainder = (Input axis Vi x Gear ratio num remainder
−
1)
−
Gear ratio denominator x Output axis Vi
To change the sign of the remainder, add 1 to the output.
Changing a positive number to a negative number: Output axis Vi = Output
axis Vi
−
1
Changing a negative number to a positive number: Output axis Vi = Output
axis Vi + 1
Example: When Gear Ratio = 1/4
The gear ratio can be changed in real time. When the gear ratio is changed,
the output waveform is smoothed by converting the remainder with the gear
ratios before and after the change.
Remainder = Remainder / Gear ratio denominator before change x Gear
ratio denominator after change
1 0 2 3
Output axis position
Input axis position
Input: 10 pulses
Input:
−
10 pulses
(to original position)
Output: 2 pulses
Remainder: 2
Output:
−
2 pulses
Remainder:
−
3