Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 112

System Parameters
Relations between
Command Unit and Pulses
Pulses [on Motor] = Command unit [on Machine] ×
Command unit [on Machine] = Pulses [on Motor] ×
Command unit limit[on machine] = 2147483647[on
Motor] ×
Speed
Motor axis speed [Motor rev/min] =
The relations between the command unit on the machine side and pulses on
the motor side can be described by the following formulas:
If the following formula cannot be satisfied, the alarm [3040h: Gear ratio range
error] will occur.
1/2147483647 ≤ (P5AA04 × P5AA06)/(9001h × P5AA05) (fraction to be
reduced) ≤ 2147483647
Command unit limit:
The maximum value of the command unit system has to satisfy the following
formula because pulse command system is described with the range in 32-bit:
− Command unit limit ≤ Command unit position ≤ Command unit limit
When specifying a position exceeding the value obtained by the above for-
mula in a program, the alarm [2009h: Position specification error] will occur.
Additionally, the upper limit of the [Command unit limit], 2147483647, will limit
the exceeding value.
The speed unit for the position command is the Command unit/min at
machine axes.
The overview of the relations between the machine axis speed [command
unit/min] and motor axis rotations [r/min] can be described by the following for-
mula.
Machine axis speed [Command unit/min]
P5AA04 [Command unit/One machine rotation]
Minimum speed to avoid intermittent output:
Minimum speed command is 1 command unit/unit scan. When outputting
slower speed than this, the output will be intermittent on the waveform.
Minimum speed [Command unit/min] = 1 [Command unit/ms] × 60 [sec/min] ×
1000 [ms/sec] × unit scan time [ms]
9001h [No. of encoder pulses/
One motor rotation] × P5AA05 [on Motor]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
9001h [No. of encoder pulses/
One motor rotation] × P5AA05[on Motor]
P5AA04 [Command unit/One machine rotation]
× P5AA06 [on Machine]
9001h [No. of encoder pulses/
One motor rotation] × P5AA05[on Motor]
Section 4-2
P5AA05 [on Motor]
×
P5AA06 [on Machine]
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