Timing That Enables Transferred System Parameters; Variables; Overview Of Variables - Omron CS1W-MCH71 Operation Manual

Variables

4-2-5

Timing that Enables Transferred System Parameters

Note
4-3 Variables
4-3-1

Overview of Variables

Name
Global variables
Position Data Data to indicate positions.
System vari- Status of MC Unit such as operating modes,
ables error logs, etc.
Global general Can be accessed from all the tasks, and
variables used for Communicating data between oper-
ations and tasks.
Input variables Status of the input from CPU Unit or
MECHATROLINK-II devices.
Output variables Outputs for CPU Unit or MECHATROLINK-II
are executed from a program.
• When Communications cycle: Unit Cycle = 1:2, 11 scans
Note The delay of the NS115, 2 scans for the uplink and 1 scan for the
downlink, is added to the value showed in 1-7 Performance.
• Gear reverse conversion: Previous Pulse a Command unit conversion for-
mula
Example)
When Communications cycle = 1 ms, Unit Cycle = 2 ms (1:2), No. of en-
coder pulses = 65536
Command unit/One machine rotation = 10000, and gear ratio 1 = gear ratio
2 = 1:
The speed that causes A94 = 32767/11*(10000/65536) × 60 × 1000 = Ap-
proximately 27271895 [Command unit/min]
Make sure to turn the MC Unit power OFF once, and then ON again after sys-
tem parameters have been transferred. The unit parameters and machine
parameters will not change unless the power is turned back ON.
The parameters that are marked 'Yes' on the immediate updating columns can
be changed without the power OFF/ON.
• A part of motion task parameters
• Axis − speed parameters
• A part of Axis − position parameters
• A part of Axis − machine parameters
There are six types of MC Unit variables as shown below:
• Position data
• System variables
• Global general variables
• Input variables
• Output variables
• Task variables
Purpose Size Backup to
FLASH ROM
10240 positions YES
(40960 byte)
2048 words NO
(4096 byte)
8192 words NO
(16384 byte)
4096 words NO
(8192 byte)
4096 words NO
(8192 byte)
Section 4-3
R/W
R/W
R
R/W
R/W
R or R/W
105