Omron CS1W-MCH71 -, Руководство по эксплуатации

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15
Performance Specifications
Section 1-5
External I/O For high-speed
servo communica-
tion bus
One port for MECHATROLINK-II
Servo encoder Incremental rotary encoder
Absolute rotary encoder (Unlimited length ABS supported with some conditions)
I/O Deceleration stop input (or servo-OFF stop): 1 pt
General input: 2 pts
General output: 2 pts
External power sup-
ply for I/O 24 V
Feed rate Rapid feed rate 1 to 2147483647 [Command unit/min]
Interpolation feed
rate 1 to 2147483647 [Command unit/min]
Override Changes the operation speed by applying a given factor to the speed specified by the
system parameters or the motion program.
0.00 to 327.67% (Setting unit: 0.01%, can be specified for each axis or task)
Internal override
(supported for unit
version 3.1 and later) The feed rate of the following commands can be set by the motion program.
Command Rate to which override is applied
MOVE
Rapid feed rate
DATUM Origin return feed rate
MOVEI Rapid feed rate, external positioning rate
MOVET Rapid feed rate
The actual feed rate is calculated using the following formula.
Actual feed rate = Axis feed rate
×
(Axis ov Internal override)
Axis control Backlash compensa-
tion
Compensates mechanical backlash (the mechanical play between driving and driven
axes) with a value registered in advance.
This function uses a parameter in the servo driver.
In-position This function is used whether a positioning is completed or not.
This function uses a parameter in the servo driver.
Position loop gain This is the position loop gain of the servo driver.
This function uses a parameter in the servo driver.
Feed forward gain The command values created in the MC Unit are multiplied by this feed forward gain.
This function uses a parameter in the Servo Driver.
Program Number of tasks Motion task: 8 tasks max.
Parallel branching in
task Motion task: 8 branches max.
Number of programs 256 programs max. /unit
The program Nos. used for programs are from 0000 to 0999.
Program numbers 0000 to 0499: Main programs for motion tasks
0500 to 0999: Sub-programs for motion tasks
Program capacity 2 Mbytes
8000 blocks max. /unit by motion program conversion.
Number of blocks 800 blocks/program
Position data capac-
ity 10240 points/unit
Sub-program nesting 5 levels max.
Start Starts program operation from program (of another task)
Start mode Motion task: Initial, continue, next
Deceleration stop Motion task: Executes deceleration stop regardless of block
Block stop Motion task: Executes deceleration stop at the end of the block currently being exe-
cuted.
Single-block mode Motion task: the program is executed one block at a time.
Breakpoints (sup-
ported for unit ver-
sion 3.0 and later.) Breakpoints can be set for any block using the Support Tool. When a breakpoint is set
for a block, program execution will stop after that block has been executed.
Item Specifications