Omron trajexia CJ1W-MCH72 Operation Manual page 151

All BASIC commands
!Caution
4-2-76 DRIVE_CONTROL
4-2-77 DRIVE_INPUTS
140
Be sure that no Parameter Unit or Personal Computer Software is connected to the
Servo Driver when executing this command. Otherwise the program task will be paused
until the connection of the other device to the Servo Driver is removed.
/i
Type Axis parameter
Syntax DRIVE_CONTROL
Description When applied to an axis driven by the Servo Driver connected to the
system via the MECHATROLINK-II bus, this parameter selects the data
to be monitored by DRIVE_MONITOR according to the table below.
/i
Code
2 Following error (this is the real FE when ATYPE=40 is used)
8 Feedback speed (With ATYPE=41 Units=Max Speed/40000000H, with other
ATYPE Units= reference units/s)
9 Command speed (units same as in Feedback Speed)
10 Target speed (units same as in Feedback Speed)
11 Torque (Force) reference (With ATYPE=42 Units=Max Torque/40000000H,
with other ATYPE Units= % over nominal Torque
14 Monitor selected with Pn813.0 Useful to monitor servo monitors (Unxxx)
15 Monitor selected with Pn813.1 Useful to monitor servo monitors (Unxxx)
/i
When applied to an axis driven by the Servo Driver connected to the
system via the Encoder Interface, this parameter sets outputs of the
Encoder Interface. Set bit 8 of this parameter to switch on OUT 0 for an
axis. Set bit 9 of this parameter to switch on OUT 1 for an axis. Keep in
mind that the same outputs are used by the HW_PSWITCH command.
The command is executed on the driver for the base axis set by BASE.
The base axis can be changed with the AXIS modifier, as with all the
other axis commands and parameters.
Arguments N/A
Example DRIVE_CONTROL AXIS(2) = 256
In this example, OUT 0 is switched on for axis 2, connected using the
Encoder Interface.
See also N/A
/i
Type Axis parameter
Syntax DRIVE_INPUTS
Description This parameter monitors the status of the inputs of the Servo Driver
connected via the MECHATROLINK-II bus. The parameter value is
updated each SERVO_PERIOD cycle. It is a bit-wise word with the bits
as listed in the table below.
Description
Section 4-2