Omron SYSMAC CJ Operation Manual page 270

All BASIC commands
4-2-249 VERIFY
4-2-250 VERSION
4-2-251 VFF_GAIN
258
/i
Type Axis parameter
Syntax VERIFY
Description The verify axis parameter is used to select different modes of operation
on a stepper encoder axis.
• VERIFY=OFF
Encoder count circuit is connected to the STEP and DIRECTION
hardware signals so that these are counted as if they were encoder
signals. This is particularly useful for registration as the registration
circuit can therefore function on a stepper axis.
• VERIFY=ON
Encoder circuit is connected to external A,B, Z signal
Note: On the Flexible Axis, when VERIFY=OFF, the encoder counting
circuit is configured to accept STEP and DIRECTION signals hard wired
to the encoder A and B inputs. If VERIFY=ON, the encoder circuit is
configured for the usual quadrature input.
Make sure that the encoder inputs do not exceed 5 volts.
Arguments N/A
Example VERIFY AXIS(3)=ON
See also N/A
/i
Type System parameter (read-only)
Syntax VERSION
Description The VERSION parameter returns the current firmware version number
of the current system installed in the CJ1W-MCH72.
Arguments N/A
Example >> PRINT VERSION
1.6100
See also N/A
/i
Type Axis parameter
Syntax VFF_GAIN
Description The VFF_GAIN parameter contains the speed feed forward gain. The
speed feed forward output contribution is calculated by multiplying the
change in demand position with the VFF_GAIN parameter value. The
default value is 0.
Adding speed feed forward gain to a system decreases the Following
Error during a move by increasing the output proportionally with the
speed.
Note: In order to avoid any instability the servo gains should be changed
only when the SERVO is off.
Arguments N/A
Section 4-2