Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 539

Coordinate System
Limited Length Axis
Upper limit of the
limited length axis
Lower limit of the
limited length axis
SL021A:
−2
No. of Multi-turns
516
• Unlimited length axis:
Enables to control axes that move endlessly in one direction (turntable or
conveyor). For unlimited feed axes, the range for updating the present
position can be set as desired.
• Upper limit of the limited axis = (P5AA04 × P5AA06 × LONGMAX)/(No. of
encoder pulses × P5AA05)
• Lower limit of the limited axis = -(P5AA04 × P5AA06 × LONGMAX)/(No. of
encoder pulses × P5AA05)
No. of encoder pulses: If the type of encoder is 16-bit, it is 65536 pulses /
r (= 10000 Hex).
P5AA04: Command unit/1 machine rotation
P5AA05: Gear ratio 1 (Motor rotation speed)
P5AA06: Gear ratio 2 (Machine rotation speed)
0
−1
SL021A:
No. of Multi-turns is a system variable that indicates the number of times of
having exceeded the upper and lower limits of the Machine coordinate sys-
tem. Unless SL021A: No. of Multi-turns is zero, the target position and the
reached position will not match. Therefore, make sure to use the limited
length axis within the range of the upper and lower limits.
Example:
Upper limit of the limited length axis = 100,000
Lower limit of the limited length axis = − 100,000
SL0206: Machine coordinate system command position = − 50,000
SL021A: No. of multi-turns = − 1
When executing the following program with the setting above:
PROG P0001 Q00000001;
ABL MOVE [J01]50000;
END;
Travel distance = Target position − Present position = 50000 − ( − 50000) =
100,000
The present position and the number of multi-turns after the execution will be;
SL0206: Machine coordinate system command position = − 50,000
SL021A: No. of Multi-turns = 0
Present position
0
Section 9-3
Time
Workpiece coordinate system offset >0
Machine coordinate system
Workpiece coordinate system offset <0
1 2