Control Units; Control Units For Position Control - Omron CJ1W-NC271 - 12-2009 Operation Manual

Control Units

7-2 Control Units
7-2-1

Control Units for Position Control

Control Units for
Position Control
Model Parameter No.
@
Pn009
R88D-KN -
ML2
Pn010
@
Pn205
R88D-GN -
ML2
Pn206
@
Pn202
R88D-WT
Pn203
R88D- Pn20E
@
WN -ML2
Pn210
SMART- Pn20E
STEP Junior
Pn210
Servomotor with 2,048
(Pulses/Rotation) Encoder
The command units are used as the basic control units for the position com-
mand values and speed command values that the PCU uses in position con-
trol axis operations, such as direct operation, origin searches, and jogging.
(The unit for speeds is command units/s.) These units are determined by the
electronic gear ratio in the Servo Parameters. The Servo Parameter settings
such as Positioning Completion Range and Software Limit and the present
position monitor unit input in the CPU Unit are also based on these command
units.
The Electronic Gear Ratio G1/G2 parameters determine the ratio between the
command unit and travel distance (pulse unit) of the Servomotor.
Parameter name
Electronic gear ratio ---
numerator
Electronic gear ratio ---
denominator
Electronic gear ratio 1 ---
(numerator)
Electronic gear ratio 2 ---
(denominator)
Electronic gear ratio G1 ---
(numerator)
Electronic gear ratio G2 ---
(denominator)
Electronic gear ratio G1 ---
(numerator)
Electronic gear ratio G2 ---
(denominator)
Electronic gear ratio G1 ---
(numerator)
Electronic gear ratio G2 ---
(denominator)
Set the electronic gear ratio such that 0.01 ≤ G1/G2 ≤ 100 when using R88D-
GN@ G-series Servo Drives, R88D-WT@ W-series Servo Drives, or SMART-
STEP Junior Servo Drives and such that 0.001 ≤ G1/G2 ≤ 1000 when using
R88D-KN@-ML2 G5-series Servo Drives or R88D-WN@-ML2 W-series Servo
Drives.
In the Servo Drive, the control unit is the pulse unit determined by the Servo-
motor's encoder resolution. (The Servo Drive operates internally with a pulse
multiplier of four. Therefore, the Servomotor's encoder resolution multiplied by
four is the number of pulses in one rotation.) The electronic gear ratio is used
to convert the command value (i.e., command units) handled by the PCU into
the control unit (i.e., pulses) used in the Servo Drive (the G1/G2 unit is
pulses/command unit.) When the Servo Drive's default setting (G1/G2 = 4/1)
is used, the command unit is the number of pulses equivalent to the Servomo-
tor's encoder resolution.
When set to G1/G2 = 8192/1000, the command units for which the Servomo-
tor makes one rotation for a position command value of 1,000 can be
obtained.
Unit Setting range Parameter size Default setting
1 to 4
1073741824
1 to 4
1073741824
0 to 131072 4
1 to 65535 4
1 to 65535 2
1 to 65535 2
1 to 4
1073741824
1 to 4
1073741824
1 to 4
1073741824
1 to 4
1073741824
Section 7-2
1
1
1
1
4
1
4
1
1
1
273