Omron CJ1W-MA - REV 10-2008 Operation Manual page 526

List of Parameters
Param- Parameter Param-
eter name eter
No. size
Pn003 Torque 2
Limit Selec-
tion
Pn004 Drive Pro- 2
hibit Input
Selection
Pn005 Communi- 2
cations
Control
Pn006 Power ON 2
Address
Display
Duration
Setting
Setting Explanation
Note PCL ON: When either Forward Torque Limit (CN1 PCL:
pin 7) or MECHATROLINKII Communications
Option Field (P-CL) is ON.
PCL OFF: When both Forward Torque Limit (CN1 PCL:
pin 7) and MECHATROLINK-II Communica-
tions Option Field (P-CL) are OFF.
• Torque Feed-forward Function Selection
1 to 3 Enabled only during speed control. Disabled if not
using speed control.
4 to 5 Always disabled
Sets the function for the Forward and Reverse Drive Prohibit
Inputs (CN1 POT: pin 19, NOT: pin 20)
0 Decelerates and stops according to the sequence set
in the Stop Selection for Drive Prohibition Input (Pn066)
when both POT and NOT inputs are enabled.
When both POT and NOT inputs are OPEN, the Drive
Prohibit Input Error (alarm code 38) will occur.
1 Both POT and NOT inputs disabled.
2 When either POT or NOT input becomes OPEN, the
Drive Prohibit Input Error (alarm code 38) will occur.
Controls errors and warnings for MECHATROLINK-II communica-
tions.
Note Use with thi]s parameter set to 0. Program to stop immedi-
ately if using a value other than 0.
Set the Consecutive Communications Error Detection Count in
COM_ERR (bit 8 to 11). The communications error (alarm code
83) will occur when a communications error, which is assessed at
every MECHATROLINK-II communications cycle, occurs consecu-
tively for the number of the Consecutive Communications Error
Detection Count. The error and warning can be masked for debug
purposes.
bits 15-12 bits 11-8 bits 7-4
--- COM_ERR MSK COM
WARNG
• [bits 8-11] COM_ERR (Consecutive Communications
Error Detection Count)
Setting range: 0 to 15.
Consecutive Communications Error Detection
Count = COM_ERR + 2
Note These bits are debug functions. Set to enable (0) when
not debugging.
• [bits 0-3] MECHATROLINK-II Communications Alarms Mask
(MSK COM ALM)
[bit0]0: Communications error (alarm code 83) enabled
1: Communications error (alarm code 83) disabled
[bit1]0: Watchdog data error (alarm code 86) enabled
1: Watchdog data error (alarm code 86) disabled
• [bits 4-7] MECHATROLINK-II Communications Warnings Mask
(MSK COM WARNG)
[bit4]0: Data setting warning (warning code 94h) enabled
1: Data setting warning (warning code 94h) disabled
[bit5]0: Command warning (warning code 95h) enabled
1: Command warning (warning code 95h) disabled
[bit6]0: ML-II communications warning
(warning code 96h) enabled
1: ML-II communications warning
(warning code 96h) disabled
Sets the duration to display the node address when the control
power is turned ON.
Note The node address display has priority even if there are
alarms or warnings at power ON.
0 to 6 600 ms
set value × 100 ms
7 to
1000
Default Unit
setting
1 ---
0 ---
0 ---
bits 3-0
MSK COM
ALM
30 ms
Appendix B
Setting Enable Details
range setting
1 to 5 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
0 to 2 Offline
0 to 3955 Offline Always
set to 0.
0 to 1000 Offline
499