Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Direct Operation Procedure Section 7-2
movement moves the axis by a relative amount from the start position. It
can be executed even when the origin has not been established.
• When the software limit function has been disabled by the axis parame-
ters (i.e., CW software limit equal to or less than the CCW software limit)
the position will be determined by the amount of relative movement even
if an absolute position is specified. (At that time, the present position is set
to “0.”)
7-2 Direct Operation Procedure
The procedures for setting data for direct operation are explained below using
the X axis as an example.
1,2,3... 1. Set the common parameters. (Refer to 4-3 Common Parameter Area .)
m: Set the operating data area either to DM or to EM.
m+1: Set the beginning word of the operating data area (I).
m+2: Designate the axis parameters.
2. Power up again or restart.
The data in the common parameter area set in (1) above is enabled.
3. Set the operating data area (Refer to 4-6 Operating Data Area .)
Set the position in I+8 and I+9.
Set the speed in I+10 and I+11.
Set the acceleration time in I+12 and I+13
Set the deceleration time in I+14 and I+15
4. Execute absolute movement or relative movement.
Turn the ABSOLUTE MOVEMENT command bit (word n, bit 03) or the
RELATIVE MOVEMENT command bit (word n, bit 04) from OFF to ON.
The operations in (1) and (2) above are required when using a PCU for the
first time, or when modifying the data in the common parameter area.
7-3 Setting Data for Direct Operation
A simple explanation of the axis parameter area, operating memory area, and
operating data area settings that are used when executing direct operation is
given below.
For setting methods and other details, refer to 4-4 Axis Parameter Area , 4-5
Operating Memory Area , and 4-6 Operating Data Area .
7-3-1 Beginning Words of Memory Areas
The beginning words of the operating memory area, operating data area, and
common parameter area used for a Position Control Unit (PCU) are deter-
mined (or set) according to the following.
• Beginning word of the operating memory area, n = CIO 2000 + 10
×
unit
number
• Beginning word of the common parameter area, m = 100
×
unit
number
• Beginning word of the operating data area, l, is specified in m and m+1.