Changing Parameters - Omron CS1W-MC221 - 02-2008 Operation Manual

Changing Parameters

Other Limitations
6-9 Changing Parameters
Overview
In Pass Mode and In-position Check OFF Mode, the G-language program is
read in advance. In addition, the pre-reading stops in the following situations,
so the operations are always executed as if in Stop Mode, regardless of the
actual operating mode.
Commands where operation stops
following command
G01, G02, G03, including M000 to M499
Mode: Automatic; Method: G language (G69)
The servo system gain can be changed by using CHANGE PARAMETER
(G69). This function can be used, for example, to increase the accuracy of cir-
cular interpolation when position loop feed forward gain is enabled during cir-
cular interpolation. For details, refer to 7-3-22 G69: CHANGE PARAMETER.
The following parameters can be changed using this function:
Changeable Servo Parameters
#5 Position loop gain
#6 Position loop feed forward gain
#7 In-position
#8 Accumulated pulse warning value
Changeable Feed Rate Parameters
#1 Acceleration time
#2 Deceleration time
#3 Interpolation acceleration time
#4 Interpolation deceleration time
Section 6-9
Commands where previous
interpolation operation stops
(G01, G02, G03, G32)
G00 (PTP)
G01, G02, G03, including # option
number specification
G04 (DWELL TIMER)
G29 (ORIGIN UNDEFINED)
G30 (SPEED CONTROL)
G31 (INTERRUPT FEEDING)
G54 (CHANGE REFERENCE
COORDINATE SYSTEM PV)
G79 (PROGRAM END)
Independent commands M000 to M999
Independent commands D000 to D255
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