Omron CS1W-NC113 - REV 02-2008, Руководство пользователя

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4-4 Section Operating Memory Area
82
Word
(PCU internal address)
Name Enable timing
NC1
j
3 NC2
j
3 NC4
j
3
X axis Y axis Z axis U axis
m+31
(001F)
m+59
(003B)
m+87
(0057)
m+115
(0073)
Initial pulse
designation
With operating
command
The bit configuration for the word addresses in the above table is shown below.
15 00
0 0 0 X (= 0 or 1)
The initial pulse designation can be set to either of the following:
0000: 250 pps
0001: Maximum speed specified with axis parameters
The default setting is 0000.
This setting specifies the speed of the first pulse when operation starts. When
axis operation starts, the speed of the first pulse based on the acceleration curve
is calculated. If this speed is less than the speed specified with this parameter,
the first pulse is automatically output with the speed specified here. This means
that the time required until pulse output starts is reduced.
Note If the initial pulse speed is set to the maximum speed specified with axis parame-
ters, set this maximum speed to a value less than the maximum input response
frequency of the drive that runs the servo motor or the stepping motor. If it is set
to a value greater than the maximum input response frequency, then this will
cause position errors (due to the drive miscounting pulses).
Example
The pulse output when performing jog operation with a parameter setting for
maximum speed of 500 kpps (default setting), acceleration time set to 0 s, decel-
eration time set to 0 s, and speed set to 10 pps. The pulse-output waveforms are
given for two cases: Case 1 is for when the initial pulse designation is set to 0 and
case 2 is for when it is set to 1. Although, the time from the PCU receiving the
startup instruction for jog operation from the CPU Unit until internal processing is
performed will be the same for the two cases, the time for the first pulse will be
reduced from 4 ms (250 pps) to 0.002 ms (500 kpps), in other words the time
required will be reduced by just under 4 ms.
PCU’s internal processing
Command to start JOG operation
(CPU Unit
→
PCU)
Case 1: Pulse output at 250 pps
Case 2: Pulse output at 500 kpps
4-4 Operating Memory Area
The operating memory area is the area in the CIO Area allocated to the outputs
used for sending commands to the PCU and the inputs used for monitoring PCU
status.
Bit Configuration
Settings
Explanation