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

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Limit Input Operations Section 7-5
Pn066 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit is input or a forward/reverse software limit is
reached. The parameter size of Pn066 is the value to be specified when trans-
ferring the Servo Parameter Pn066 including the above settings.
The following table shows the Servomotor stop operations using Pn066 set-
tings.
Note (1) If an operation command in the drive prohibited direction is received
when the torque command of the drive prohibited direction is disabled,
the Servomotor will not operate in the drive-prohibited direction, but the
position deviation will accumulate because the torque command is en-
abled. If drive prohibition is detected, stop the operation command from
the host controller and take measures such as executing a command in
the reverse direction.
(2) The positioning command generation process (positioning operation)
within the Servo Drive will be forcibly stopped after it enters the deceler-
ation mode. Also, when the deceleration mode is activated during speed
control or torque control, it will switch to position control.
(3) When the Servomotor rotation speed is 30 r/min or less (stopped), the de-
celeration mode will not be entered even if the drive prohibit input is en-
abled.
W-series and SMARTSTEP Junior Limit Input Parameters
Note The Pn406 default setting corresponds to that used for W-series Servo Drives.
Pn001.1 is used to set the stop operation of the Servomotor when a for-
ward/reverse rotation limit input is input or a forward/reverse software limit is
reached. The parameter size of Pn001.1 in the above table is the set value to
be specified when transferring the Servo Parameter Pn001 (including
Pn001.1).
Parameter
No.
Setting During
deceleration
After stopping Deviation counter
Pn066 0 Dynamic brake Disables torque
command in drive
prohibited direction Cleared while
decelerating with
dynamic brake.
Retained after
stopping.
1 Disables torque Disables torque
command in drive
prohibited direction Cleared while
decelerating.
Retained after
stopping.
2 Emergency stop
torque (Pn06E) Servo lock Retained while
decelerating,
cleared upon com-
pletion of decelera-
tion, and retained
after stopping.
Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting
Pn001.1 Function selection
application switch 1
Select stop when
prohibited drive is
input
--- 0 to 2 2 0
Pn406 Emergency stop
torque % 0 to 800 2 350