Slave Modules - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Slave Modules

10-2 Slave Modules
Note
10-2-1 Using 64-Point I/O Module
Explanation of the
operation
Parameter settings
No. Setting
value
P1AA01 2
P1AA02 100
P1AA03 4
P1AA04 4
P1AA05 0
P1AA06 0
Note
I/O variables
specifications
Address Bit
IW0030 0 to 15
IW0031 0 to 15
IW0032 0 to 15
IW0033 0 to 15
560
21) The axes return to the origin.
22) The program is completed.
This section describes the parameter settings, the allocation area status, and
the program examples for operations when the I/O module is specified as the
MECHATROLINK-II device.
For details of functions, etc., refer to YASKAWA ELECTRIC CORPORATION's
Σ -II SERIES SGDH MECHATROLINK-II APLLICATION MODULE USER'S
MANUAL MODEL: JUSP-NS115 (MANUAL NO. SIEPC71080001*)".
The parameter settings and the allocation example when I/O modules are
connected to the MECHATROLINK device are shown below.
Allocate 64-point I/O module at node 2 to Axis 3 of the MC Unit.
Set Axis 3 to I/O in the system parameter of the MC Unit.
Name
Physical axis setting
MLK-II device classification
Input allocation points
Output allocation points
Axis allocation first address
MLK-II communications error detection
(1) AA=03 (Axis 3)
(2) With P1AA02 set to I/O (100), 6 parameters above are valid. (Others are
ignored.)
(3) The contents of the address specified here are reflected in the system
variable [Current coordinate system FB position]. (For Axis 3:
IL0032h _ SL0260h) Only 1 word can be monitored.
The following is the relations between the I/O module with the above parame-
ter settings and I/O variables in the MC Unit. (The addresses are the ones for
the I/O module allocated as Axis 3.)
Input variables
Symbol Name
- Input (IN1)
1 to 16
- Input (IN1)
17 to 32
- Input (IN2)
1 to 16
- Input (IN2)
17 to 32
Set node address to "2".
I/O
Input - 4 words
Output - 4 words
The first address of destination word for storing
the count values (Not specified) (See note 3.)
(Default value)
Description
Shows status of input signal (connector 1).
Input 1 to Input 16
Shows status of input signal (connector 1).
Input 17 to Input 32
Shows status of input signal (connector 2).
Input 1 to Input 16
Shows status of input signal (connector 2).
Input 17 to Input 32
Section 10-2
Detail