Omron CS1W-MCH71 Operation Manual page 60

Performance Specifications
Item
External I/O For high-speed
servo communica-
tion bus
Servo encoder
I/O
External power sup-
ply for I/O
Feed rate Rapid feed rate
Interpolation feed
rate
Override
Internal override
(supported for unit
version 3.1 and later)
Axis control Backlash compensa-
tion
In-position
Position loop gain
Feed forward gain
Program Number of tasks
Parallel branching in
task
Number of programs 256 programs max. /unit
Program numbers
Program capacity
Number of blocks
Position data capac-
ity
Sub-program nesting 5 levels max.
Start
Start mode
Deceleration stop
Block stop
Single-block mode
Breakpoints (sup-
ported for unit ver-
sion 3.0 and later.)
One port for MECHATROLINK-II
Incremental rotary encoder
Absolute rotary encoder (Unlimited length ABS supported with some conditions)
Deceleration stop input (or servo-OFF stop): 1 pt
General input: 2 pts
General output: 2 pts
24 V
1 to 2147483647 [Command unit/min]
1 to 2147483647 [Command unit/min]
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)
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 override + Internal override)
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.
This function is used whether a positioning is completed or not.
This function uses a parameter in the servo driver.
This is the position loop gain of the servo driver.
This function uses a parameter in the servo driver.
The command values created in the MC Unit are multiplied by this feed forward gain.
This function uses a parameter in the Servo Driver.
Motion task: 8 tasks max.
Motion task: 8 branches max.
The program Nos. used for programs are from 0000 to 0999.
0000 to 0499: Main programs for motion tasks
0500 to 0999: Sub-programs for motion tasks
2 Mbytes
8000 blocks max. /unit by motion program conversion.
800 blocks/program
10240 points/unit
Starts program operation from program (of another task)
Motion task: Initial, continue, next
Motion task: Executes deceleration stop regardless of block
Motion task: Executes deceleration stop at the end of the block currently being exe-
cuted.
Motion task: the program is executed one block at a time.
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.
Specifications
Section 1-5
15