Omron R88A-MCW151-DRT-E - Page 264

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Programming Examples Appendix C
DRV_WRITE($002,$0000)
VR(force_reset) = TRUE
ENDIF
' Pn003 Function selection application switch 3
' Pn003.0 = 2 : Analog monitor1 Torque command
' Pn003.1 = 0 : Analog monitor1Servomotor rotation speed
IF DRV_READ($003)<>$0002 THEN
DRV_WRITE($003,$0002)
VR(force_reset) = TRUE
ENDIF
' Pn50A Input signal selection 1
' Pn50A.0 = 1 : Input Signal Allocation mode user-defined
' Pn50A.1 = 8 : RUN Signal Input always disabled
' Pn50A.2 = 8 : MING Signal Input always disabled
' Pn50A.3 = 2 : POT Signal Input allocated to CN1-42
IF DRV_READ($50A)<>$2881 THEN
DRV_WRITE($50A,$2881)
VR(force_reset) = TRUE
ENDIF
' Pn50B Input signal selection 2
' Pn50B.0 = 3 : NOT Signal Input allocated to CN1-43
' Pn50B.1 = 8 : RESET Signal Input always disabled
' Pn50B.2 = 8 : PCL Signal Input always disabled
' Pn50B.3 = 2 : NCL Signal Input always disabled
IF DRV_READ($50B)<>$8883 THEN
DRV_WRITE($50B,$8883)
VR(force_reset) = TRUE
ENDIF
' Pn50C Input signal selection 3
' Pn50C.0 = 8 : RDIR Signal Input always disabled
' Pn50C.1 = 8 : SPD1 Signal Input always disabled
' Pn50C.2 = 8 : SPD2 Signal Input always disabled
' Pn50C.3 = 8 : TVSEL Signal Input always disabled
IF DRV_READ($50C)<>$8888 THEN
DRV_WRITE($50C,$8888)
VR(force_reset) = TRUE
ENDIF
' Pn511 Registration Input signal selection
' Pn511.0 = 8 : Always disabled
' Pn511.1 = 8 : Always disabled
' Pn511.2 = 8 : Always disabled
' Pn511.3 = 6 : EXT3 (Print Registration) Input allocated
' ----------- : to CN1-46 (rising edge) (selected)
' Pn511.3 = F : EXT3 (Print Registration) Input allocated
' ----------- : to CN1-46 (falling edge)
IF DRV_READ($511)<>$8888 THEN
DRV_WRITE($511,$8888)
VR(force_reset) = TRUE
ENDIF
' Initialisation parameters II (no re-start / reset required):
' Pn100 Speed loop gain
IF DRV_READ($100)<>80 THEN
DRV_WRITE($100,80)
ENDIF
' Pn101 Speed loop integration constant
IF DRV_READ($101)<>2000 THEN
DRV_WRITE($101,2000)
ENDIF
' Pn103 Inertia ratio
IF DRV_READ($103)<>300 THEN
DRV_WRITE($103,300)
ENDIF