Omron CS1W-MCH71 Operation Manual page 386

Command Details
Change Parameter
Value (PARAM)
Command type
Format
Operand
Operand Setting range
Parameter number 0 to 65535
−2147483648 to
Parameter setting
value 2147483647
Servo parameter 000 to 8FF [Hex] No
number
Note
Description
Caution
The setting of the specified parameter is changed.
Single execution command
PARAM_P<parameter number> = <parameter setting value>;
PARAM_[<axis name>]<servo parameter number> = <parameter setting
value>;
Ex: PARAM P1 = 2;
Axis name: J01 to J32
Decimal
Bit
No No
No No
No
(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].
• 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.
The following time is required from when the PARAM command execution
starts until execution is completed.
Parameter type
Servo driver parame- 1 ms, 2 ms
ters
3 ms, 4 ms, 6 ms, or 8 ms
Other parameters 1 ms, 2 ms, 3 ms, 4 ms, 6 ms,
or 8 ms
Variable specification
Word Long
word number
Yes (See Yes Yes (See
note 1.) note 2.)
Yes (See Yes Yes (See
note 1.) note 2.)
Yes (See Yes Yes (See
note 1.) note 2.)
Unit cycle Tm (ms)
{(20/Tm) × 3 + 2} × Tm to {(20/
Tm) × 4 + 2} × Tm
{(20/Tm) × 4 + 2} × Tm to {(20/
Tm) × 5 + 2} × Tm
{(20/Tm) × 1 + 2} × Tm to {(20/
Tm) × 2 + 2} × Tm
Section 6-3
INC/ ABL
influ-
Real Indirect
ence
specifi-
cation
Yes No
Yes No
Yes No
Execution time (ms)
341