Concept Of Parameters - Omron CS1W-MCH71 Operation Manual

System Parameters
4-2-4

Concept of Parameters

Gear Ratio
Relations between
Command Unit and Pulses
Pulses [on Motor] = Command unit [on Machine] ×
Command unit [on Machine] = Pulses [on Motor] ×
Command unit limit [on machine] = 2147483647
Speed
This section explains the concept of the gear ratio.
In case of position command:
In a machine configuration where the motor axis rotation (m) results in the
machine axis rotation (n), set the gear ratio as shown below:
[P5AA05: Gear ratio 1 (Motor rotation speed)] = m
[P5AA06: Gear ratio 2 (Machine rotation speed) = n
Example)
If P5AA05 = 2 and P5AA06 = 1, giving a command to rotate the machine axis
at 1000 r/min will make the motor axis rotate at 2000 r/min.
In cases of Speed Command and Torque Command:
Only the SPEED and TORQUE commands can control speed and torque
respectively. These commands are for the motor axes, so there is no need to
set the gear ratio.
Example)
Even when P5AA05 = 2 and P5AA06 = 1 are set, giving a command to rotate
at 1000r/min with the SPEED command will make the motor axis rotate at
1000r/min.
The relations between the command unit on the machine side and pulses on
the motor side can be described by the following formulas:
If the following formula cannot be satisfied, the alarm [3040h: Gear ratio range
error] will occur.
1/2147483647 ≤ (P5AA04 × P5AA06)/(9001h × P5AA05) (fraction to be
reduced) ≤ 2147483647
Command unit limit:
The maximum value of the command unit system has to satisfy the following
formula because pulse command system is described with the range in 32-bit:
− Command unit limit ≤ Command unit position ≤ Command unit limit
×
[on Motor]
When specifying a position exceeding the value obtained by the above for-
mula in a program, the alarm [2009h: Position specification error] will occur.
Additionally, the upper limit of the [Command unit limit], 2147483647, will limit
the exceeding value.
The speed unit for the position command is the Command unit/min at
machine axes.
9001h [No. of encoder pulses/
One motor rotation] × P5AA05 [on Motor]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
9001h [No. of encoder pulses/
One motor rotation] × P5AA05 [on Motor]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
9001h [No. of encoder pulses/
One motor rotation] × P5AA05 [on Motor]
Section 4-2
103