Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 132

System Variables
Variable IORD Group
Address Address
SW020E 3107 Axis
SW020F
SW0210 3108
SW0211
SW0212 3109
SW0213
SW0214 310A
SW0215
SW0216 310B
SW0217
SW0218 310C
SW0219
SW021A 310D
SW021B
SW021C 310E
SW021D
SW021E 310F
SW021F
SW0220 3110
SW0221
SW0222 3111
SW0223
SW0224 3112
SW0225
SW0226 3113
SW0227
Name
Axis 1 status: Com- Outputs command speed
mand Speed 1
Axis 1 status: Com- Outputs the command speed (% specifi-
mand Speed 2 cation of motor rated speed or r/min)
Axis 1 status: Errors Outputs Errors
Axis 1 Status: Torque Outputs Torque command value
command value
* There are some cases where this
parameter cannot be read.
Axis 1 status: Work- Outputs the workpiece origin shift
piece origin shift amount
− 2147483648 to 2147483647
amount
Axis 1 status: Origin Outputs the distance between the final
margin in pulses change position of the deceleration LS
and origin determine signal (phase Z or
origin LS).
If deceleration LS is not used, outputs 0.
− 2147483648-2147483647
Axis 1 status: Number Outputs the number of times upper and
of multi-turns lower limits on the machine coordinate
system are exceeded.
ABS encoder: Cleared to 0 at origin set-
ting completion
*If Movement exceeding the multi-turns
limit is executed it is not guaranteed.
INC encoder: Clear to 0 at origin search
completion
− 2147483648 to 2147483647
Axis 1 status: MECHA- Servo status: Reflects the MECHA-
TROLINK-II Servo sta- TROLINK-II servo status.
tus
I/O monitor: Reflects the MECHA-
TROLINK-II I/O monitor
Axis 1 status: ABS ABS encoder multi-turns value at the
position setting value origin setting.
1Multi-turns value
Axis 1 status: ABS No. of Initial incremental pulses of ABS
position setting value 2 encoder at the origin setting.
No. of Initial incremen-
tal pulses
Reserved Reserved
Description
Command
unit/min
0.01% of
motor rated
speed, or
0.01r/min
Pulse
0.01% of
Max. motor
torque (when
Torque com-
mand in
progress) or,
0.01% of
motor rated
torque.
(When posi-
tion/speed In
progress)
Command
unit
Command
unit
Turn
Nil
Turn
Pulse
Reserved
Section 4-5
Unit Update timing
Unit scan
Unit scan
Unit scan
Unit scan
When coordinate
system is selected
When origin
search is com-
pleted
Unit scan
Unit scan
When the power is
turned ON When
ABS setting is
completed
When the power is
turned ON When
ABS setting is
complete
Reserved
109