Omron CJ1W-MA - REV 10-2008 Operation Manual page 257

MECHATROLINK Settings
Note
Transfer Cycle and Communications Cycle When Setting the Absolute Encoder Zero Point Position
Offset Using an Origin Search Operation with Position Control Units with Unit Ver. 2.0
230
(2) The values in parentheses in the Minimum communications cycle value
column are the PCU's communications cycle set value (multiplier to ob-
tain integer multiples of the transfer cycle) used to set the minimum com-
munications cycle for the minimum transfer cycle set value.
(3) When using the R88D-WT@ W-series Servo Drive and JUSP-NS115 to-
gether, the SMARTSTEP Junior, or the R88D_GN@, set the communica-
tions cycle so that it is an integer multiple of 1.0 ms. When using the
R88D-WN@-ML2 W-series Servo Drive, set the communications cycle so
that it is an integer multiple of 0.5 ms.
(4) When connecting a G-series Servo Drive, W-series Servo Drive, or the
SMARTSTEP Junior Servo Drive to the PCU, set the transfer cycle to
4 ms max.
The PCU default settings are 1.0 ms for the transfer cycle and 3 for the com-
munications cycle (multiplier 3: 1.0 ms × 3 = 3.0 ms). Without changing the
default settings, the G-series Servo Drive, W-series Servo Drive (equipped
with JUSP-NS115 MECHATROLINK-II Application Module or built-in MECHA-
TROLINK-II communications), or the SMARTSTEP Junior Servo Drive can be
used for up to eight axes (axis numbers 1 to 8).
(1) When using linear interpolation, set the communications cycle to a value
1 ms higher than the minimum value given in the above table. If the com-
munications cycle setting is too small, the command response time of the
Position Control Unit function may be greatly extended.
(2) The command response time for axes not used for linear interpolation will
be increased by up to four communications cycles per linear interpolation
combination being executed. This applies from when setting the linear in-
terpolation operation is started until linear interpolation is completed (i.e.,
while either the SETTING LINEAR INTERPOLATION Bit or the Linear In-
terpolation Executing Flag is ON).
Make the settings according to the following table when using a Position Con-
trol Unit with unit version 2.0. For a Position Control Unit with unit version 2.1
or later, the same settings can be used for the communications cycle as when
not setting the absolute encoder zero point position offset using an origin
search operation.
If an absolute encoder zero point position offset is set using an origin search
operation for a motor with an absolute encoder, set the transfer cycle and
communications cycle according to the following table. The settings will
depend on the number of axes used and other functions that are executed
simultaneously. Refer to 8-6-5 Absolute Encoder's Origin (Zero Point) Position
Offset Setting for details on the position offset setting.
Section 6-2