Omron SYSMAC CJ Operation Manual page 319

How-to's
5-1-6-5 Registration in the Accurax G5 Servo Driver
5-1-6-6 Registration in the Encoder Interface
registration is required when the G-Series Servo Driver is in base-block state,
this workaround can be used: put the G-Series Servo Driver in torque mode
with zero torque by executing:
• ATYPE=42
• T_REF=0
and then perform registration.
In the Accurax G5 Servo Drivers there are three registration inputs and two
hardware latches. Trajexia uses logical inputs EXT1, EXT2 and EXT3 to
associate the physical inputs to logical ones. This association is done by
setting the parameters Pn404 to Pn406 of the Servo Driver. For more
information on setting this association, refer to the tables below.
/i
Parameter
number
Pn404 Input Signal Selection 5
Pn405 Input Signal Selection 6
Pn406 Input Signal Selection 7
The table below lists the available settings to allocate EXT1, EXT2 and EXT3
to the CN1 input signals.
/i
Signal name
Disabled
External Latch Input 1
External Latch Input 2
External Latch Input 3
In contrast with other types Servo Drivers, the Accurax G5 Servo Drivers do
not support executing registration while it is in base-block state. The
registration can be executed on Accurax G5 Servo Drivers only when WDOG
is set to ON. If registration is required when the Accurax G5 Servo Driver is in
base-block state, this workaround can be used: put the Accurax G5 Servo
Driver in torque mode with zero torque by executing:
• ATYPE=42
• T_REF=0
and then perform registration.
The CJ1W-MCH72 has three physical registration inputs (two registration
inputs, see section 2-1-1, and encoder Z-mark input, see section 2-2-2), and
two latch circuits, which can be used independently. Therefore two
independent registration inputs can be used at the same time. For more
information on how to use both registration inputs of the CJ1W-MCH72 at the
same time, refer to sections 4-2-149, 4-2-150, 4-2-195, 4-2-196 and 4-2-197.
The delay in the capture is 0.5 µs. Because the encoder position is read
continuously from the line-drive encoder input, interpolation is not necessary.
The delay for the transmission of the captured information is just one
SERVO_PERIOD cycle.
Parameter name
Set the IN5 input function allocation
Set the IN6 input function allocation
Set the IN7 input function allocation
Symbol
---
EXT1
EXT2
EXT3
Section 5-1
Description
Set value
00h
20h
21h
28h
307