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

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Origin Search Operation Section 8-2
For G-series Servo Drives and W-series Servo Drives used with incremental
encoders or absolute encoders used as incremental encoders, the present
position is taken as 0 when the power is turned ON. When the executable
functions shown in the above table are executed by the PCU without a defined
origin, the present position will be calculated from the position of the axis (0)
when the power was turned ON with no origin established.
8-2 Origin Search Operation
8-2-1 Origin Search Overview
Origin searches are performed by actually operating the Servomotor, search-
ing for the mechanical origin based on the limit input signal, origin proximity
input signal, and origin input signal, and to define the origin.
Note In ORIGIN SEARCH execution, the present position is cleared to 0 at the
same time when an origin is defined. Unless the Absolute Encoder Zero Point
Position Offset is set using an Origin Search Operation with Position Control
Units with unit version 2.0 or later, the absolute value data read to the PCU
when SERVO LOCK was executed will be lost when the origin is established.
(The absolute data saved in the absolute encoder will not be lost and can be
obtained by executing SERVO LOCK after SERVO UNLOCK.) When using a
Position Control Unit with unit version 2.0 or later and not setting an Absolute
Encoder Zero Point Position Offset, execute ORIGIN SEARCH using either a
Servomotor with incremental encoder or a Servomotor with absolute encoder
that is used as an incremental encoder.
Position
control ABSOLUTE MOVE-
MENT Cannot be executed.
If executed, a Present Position Unknown Error
(axis error code: 3030 hex) will occur.
RELATIVE MOVE-
MENT Can be executed.
INTERRUPT FEED-
ING Can be executed only with RELATIVE MOVE-
MENT.
If executed with ABSOLUTE MOVEMENT, a
Present Position Unknown Error (axis error
code: 3030 hex) will occur, and the function will
not be executed.
SPEED CONTROL Can be executed.
TORQUE CONTROL Can be executed.
Function Operation