Omron CS1W-MCH71 -, Руководство по эксплуатации

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341
Command Details
Section 6-3
Change Parameter
Value (PARAM)
The setting of the specified parameter is changed.
Command type Single execution command
Format PARAM_P<parameter number> = <parameter setting value>;
PARAM_[<axis name>]<servo parameter number> = <parameter setting
value>;
Ex: PARAM P1 = 2;
Operand Axis name: J01 to J32
Note (1) Word data is extended to long word data with a sign in the MC Unit.
(2) The actual value is determined by the setting value of the parameter
[P5AA02: Position command decimal point position].
Description • System parameters or servo parameters are changed.
• Only one parameter can be changed per command.
• From a motion task, only system parameters related to the motion task
itself and only system parameters or servo parameters related to the axis
reserved by axis declaration can be changed.
• The parameters that can be changed using PARAM command are the
ones that can be changed after power is turned ON (i.e. the parameters
that can be changed without turning OFF the power once, then ON
again). If a parameter that cannot be changed is changed, the alarm
[2019h: Parameter setting error] will occur.
• Parameters changed using PARAM command remains enabled until any
one of the following is executed:
1. Power is turned ON or Unit is restarted.
2. PARAM command is executed.
3. Parameter is changed using IOWR instruction.
4. Parameter is downloaded from a the Support Tool.
• PARAM command execution will be completed when the parameter is
overwritten successfully.
Caution The following time is required from when the PARAM command execution
starts until execution is completed.
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Parameter number 0 to 65535 No No Yes (See
note 1.) Yes Yes (See
note 2.) Yes No
Parameter setting
value
−
2147483648 to
2147483647
No No Yes (See
note 1.) Yes Yes (See
note 2.) Yes No
Servo parameter
number 000 to 8FF [Hex] No No Yes (See
note 1.) Yes Yes (See
note 2.) Yes No
Parameter type Unit cycle Tm (ms) Execution time (ms)
Servo driver parame-
ters 1 ms, 2 ms {(20/Tm)
×
3 + 2}
×
Tm to {(20/
Tm)
×
4 + 2}
×
Tm
3 ms, 4 ms, 6 ms, or 8 ms {(20/Tm)
×
4 + 2}
×
Tm to {(20/
Tm)
×
5 + 2}
×
Tm
Other parameters 1 ms, 2 ms, 3 ms, 4 ms, 6 ms,
or 8 ms {(20/Tm)
×
1 + 2}
×
Tm to {(20/
Tm)
×
2 + 2}
×
Tm