Omron SYSMAC CS1G Operation Manual page 77

System Parameters
Number Address
P00004 5003h
P00005 5004h
P00006 5005h
P00007 5006h
P00008 5007h
P00009 5008h
P00010 5009h
P00011 500Ah
- -
P00032 501Fh
Motion Task Parameters
Note
No. Address
M=1-8 M=0-7
P00M01 5020h +
(M * 20h)
P00M02 5021h +
(M * 20h)
P00M03 5022h +
(M * 20h)
P00M04 5023h +
(M * 20h)
P00M05 5024h +
(M * 20h)
P00M06 5025h +
(M * 20h)
P00M07 5026h +
(M * 20h)
54
Name
Unit function select • Specifies method of specifying the speed in helical circu-
lar interpolation under MOVEC command.
• Specifies center-positioning method for MOVEC com-
mand
• Specifies the speed command unit for SPEED com-
mand/feedback speed.
• Specifies the operation when maximum speed parame-
ter is clamped due to servo driver's specification,
whether to activate alarm or to keep operating in clamp
status.
• Select output method for positioning completed / posi-
tioning completed 2 signals.
• Specifies the method for changing the direction for JOG
operation.
• Specifies support for 3-ms communications cycle.
• Specifies the type of continuous operation for multi-turn
operation for an infinite axis
• Specifies behavior when an overtravel alarm occurs
Reserved
General I/O Dis- Specifies general I/O signals disable/enable for MC unit.
abled/Enabled
Input control 1 from Specifies whether input signals from CPU to the Unit or
PLC motion tasks are enabled or disabled.
Input control 2 from Specifies whether input signals from CPU to axes are
PLC enabled or disabled.
Setting for the No. of • No. of retrial nodes: Specifies the number of nodes to be
MECHATROLINK-II retried within MECHATROLINK-II communication cycle.
Retrial Nodes, With/
• With/without C2 master: Set this parameter when there
without C2 master
is a master unit other than MC unit. (reserved)
MECHATROLINK-II Specifies the time to make the communication start
Delay in Communi- delayed in order to wait for slave startup.
cation Start
Reserved
Abbreviation in the No. column:
Abbreviation in the address column: M=0-7 (motion task number − 1)
Name
Max. interpolation Sets the maximum feed rate (F command) in interpolation
feed rate operation
Interpolation feed Sets the time required to accelerate from zero to max.
acceleration time interpolation feed rate.
Interpolation feed Sets the time required to decelerate from max. interpola-
deceleration time tion feed rate to zero in interpolation.
Interpolation S-curve Select enable /disable of S-curve filter at the interpolation
filter enabled feed rate.
Interpolation S-curve Sets the S-curve filter time constant at the interpolation
time constant feed rate.
Pass mode select Sets the combination of the interpolation Accel/decel time
and Pass mode with fixed acceleration disabled/enabled.
Initial modal data 1 Specifies the initial value if ABL/INC specification has
MOVE command been omitted in a motion program.
value select
Function
M=1-8 (motion task number)
Function
Section 4-2
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