Omron trajexia CJ1W-MCH72 Operation Manual page 344

Practical examples
5-2-3 Initialization program
Note
FHSPEED=1000.0000
OUTLIMIT=1.0000
FE_RANGE=0.0000
ENDIF
' Variables
' TABLE DATA
'Stop Standard Section
RETURN
The Initialization program sets the parameters for the axes. These parameters
are dependant upon the Motor Encoder resolution and the motor maximum
speed.
Refer to the Servo Driver and the motor data sheet for this information.
'================================================
'EXAMPLE OF INITIALIZATION PROGRAM
'THIS VERSION IS DESIGNED FOR MECHATROLINK-II SERVOS
'ADAPT THIS PROGRAM ACCORDING TO YOUR APPLICATION
'================================================
BASE(x)
restart=0
inertia_ratio=set_load_inertia_ratio
'----------------------------
'EXAMPLE 1
'SGMAH-01AAA61D-OY motor data
'----------------------------
enc_resolution=2^13 '13 bit encoder
max_speed=5000 '5000 rpm max. speed
'----------------------------
'EXAMPLE 2
'SGMAH-01A1A61D-OY motor data
'----------------------------
enc_resolution=2^16 '16 bit encoder
max_speed=5000 '5000 rpm max. speed
'----------------------------
'WRITE PARAMETERS IN THE SERVO
'----------------------------
DRIVE_WRITE($103,2,inertia_ratio) 'Write inertia ratio
DRIVE_READ($110,2,10)
IF VR(10)<>$0012 THEN
DRIVE_WRITE($110,2,$0012,1)
'Pn110=0012h (autotuning disabled)
restart=1
ENDIF
DRIVE_READ($202,2,10)
IF VR(10)<>1 THEN
Section 5-2
333