Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 211

Servo Parameter
Full-closed Control
Type User's
constant No.
Function Pn002
select con-
3
stant
Position rela- Pn206
tions
188
The full-closed control setting can be performed using the following user con-
stants.
Name
Advanced function select switch 2
Full-closed encoder 0
usage
1
2
3
4
No. of full-closed encoder pulses
Related user's constant
Pn202
Pn203
<Full-closed System Specifications>
• Full-closed encoder pulse mode
5V differential line driver output (EIA Standard RS-422A compliance)
• Full-closed encoder pulse signal mode
Two pulses with phase difference of 90 degree: Phase-A, Phase-B
Latch pulse (origin pulse): Phase-C (can be used)
Maximum receivable frequency: 1Mbps (per one phase)
Phase A
Phase B
t1
<No. of Full-closed Encoder Pulses Setting>
• Set the No. of full-closed encoder pulses per one motor rotation with the
value (x1 multiplication).
• If an integer cannot be obtained, set the closest integer.
• There will be deviations in the speed monitors of position loop gain, feed
forward, and command pulse, but no position deviation should result.
<Position Management>
• The full-closed control does not support an absolute position encoder, but
an incremental encoder.
• If the encoder that is attached on the motor is an absolute encoder, the
usage is the same as for an incremental encoder.
Size Unit Lower
limit
2 --- 0000H
Not used
Used without phase-C
Used with phase-C
Used in reverse rotation mode without
phase-C
Used in reverse rotation mode with phase-C
P/R ( × 1) 512
2
Electronic gear (numerator)
Electronic gear (denominator)
t1, t2, t3, t4 ≥ 0.2us
t2 t3 t4
Forward rotation
Section 4-8
Upper Support tool En-
limit initial value able
∆
4112H 0000H
∆
0
∆
65535 16384
Reverse rotation