Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 8

Version Upgrade Information
The following tables outline changes made for the most recent version upgrade for SYSMAC CS-
Series Advanced Motion Control Units.
Jogging
The following procedure was required to set or reverse
the jogging direction.
• Specify the feed direction using the JOG/STEP Direc-
tion Bit.
• Turn ON The JOG Operation Bit.
• Turn OFF the JOG Operation Bit to reverse the feed
direction.
• Reverse the JOG/STEP Direction Bit after the axis
has stopped.
• Turn ON the JOG Operation Bit.
• The jogging direction will then be reversed.
Network Levels
Motion Control Units could be used to control commu-
nications across three network levels.
Communications Cycle/Unit Cycle
The communications cycle and Unit cycle were as fol-
lows:
Communications cycle: 1 ms, 2 ms, or 4 ms
Unit cycle: 1 ms, 2 ms, 4 ms, or 8 ms
LATCH Command Processing Time
The time required to detect the external latch signal
after the LATCH command is executed was as follows:
Receiving latch signals at any position:
105 ms to 232 ms
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms
Previous versions
Previous versions
Previous versions
Previous versions
Present version (unit Ver. 2.0 or later)
• The following setting/reversal method has been
added.
• Specify the feed direction using the JOG/STEP Direc-
tion Bit.
• Turn ON the JOG Operation Bit.
• Leave the JOG Operation Bit turned ON and simply
reverse the JOG/STEP Direction Bit setting to reverse
the feed direction.
• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 05
0: Default setting. Same functionality as previous ver-
sions. This bit was previously reserved (default setting
0).
1: Selects new function supported with this version.
Present version (unit Ver. 2.0 or later)
Motion Control Units now support communications
across eight network levels, the same as CPU Units.
CPU Units with unit Ver. 2.0 or later support eight net-
work levels.
Present version (unit Ver. 2.0 or later)
• A 3-ms communications cycle is now supported,
enabling higher-precision performance.
Communications cycle: 1 ms, 2 ms, 3 ms, or 4 ms
Unit cycle: 1 ms, 2 ms, 3 ms, 4 ms, 6 ms, or 8 ms
• Use the following parameter to switch between the
previous function and the new function.
Parameter No.: P00004
Bit: 03
0: Default setting. Same functionality as previous ver-
sions. This bit was previously reserved (default setting
0).
1: Enables 3-ms cycle provided with this version.
Present version (unit Ver. 2.0 or later)
The required time has been shortened for receiving
latch signals at any position, as follows:
Receiving latch signals at any position:
3 ms to 24 ms (improved)
Receiving only those latch signals within a specific
positioning range: 105 ms to 232 ms (same)
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