Omron CJ1W-MA - REV 10-2008, Operation Manual

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Acceleration and Deceleration Operations Section 7-4
For details on the origin search, refer to 8-2 Origin Search Operation .
The acceleration when origin search starts and the speed change when
switching to another step depend on the acceleration/deceleration curve (cir-
cled in above diagram) determined by the acceleration/deceleration filter set-
ting and acceleration/deceleration set in Servo Parameters (Pn80A to Pn812
for W Series, Pn107 and Pn10A for G Series).
When the final travel distance to return to zero point (origin) is a negative or
small value, the axis will decelerate to a stop as shown in the following dia-
gram, and then reverse and perform the set positioning. Both the deceleration
and acceleration will be determined also by the set acceleration/deceleration
curve (circled in following diagram).
If the reversal mode operation using limit input is set, however, the stop opera-
tion when a limit input signal is input will depend on the Servo Drive setting.
For details on stop operations when using limit input signal inputs, refer to
7-5
Limit Input Operations and Reversal Mode Operation Using Limit Inputs in 8-
2-4 Origin Search Operation .
7-4-5 Acceleration and Deceleration Operations during Speed Control
When the speed control command is executed, the Servo Drive performs
stepped speed control from the present feedback speed to the target speed
specified in the speed command value for speed control. Apart from smoothly
increasing/decreasing the speed command value (for speed control) when
starting speed control, shock in acceleration/deceleration when performing
speed control can also be minimized by setting the Servo Parameters
Soft
Start Acceleration Time (Pn058 for G Series and Pn305 for W Series) and
Soft Start Deceleration Time (Pn059 for G Series and Pn306 for W Series) to
create a trapezoidal speed curve.
For details on speed control, refer to 10-5 Speed Control .
Origin input signal/
Phase Z signal
Speed
Stop
Origin search direction
1
0
Zero point return approach speed 1 (Pn817) for W Series
Origin return approach speed 1 (Pn110) for G Series
Final travel distance to return to zero point
(Pn819) for W Series
Origin return final distance (Pn204) for G Series
Zero point return approach speed 2 (Pn818) for W Series
Origin return approach speed 2 (Pn111) for G Series