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

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Origin Search Operation Section 8-2
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
The speed command value specifies the initial origin search speed until the
origin proximity signal is input. When an origin search is started with the
speed command set to 0 (command units/s), a Speed Designation Error (axis
error code: 3061) will occur and the origin search will not be executed.
Torque limit during operation is possible with origin searches. For further
details on the torque limit function, refer to
10-4 Torque Limits .
The speed command value, acceleration/deceleration curve designation, and
forward/reverse rotation current limit designation data are enabled when the
ORIGIN SEARCH Bit turns ON.
The SMARTSTEP Junior Servo Drives do not support acceleration/decelera-
tion filters and torque limits. When using a SMARTSTEP Junior Servo Drive,
do not attempt to use an acceleration/deceleration curve designation or for-
ward/reverse torque limit designation.
Note Do not set both the exponential curve designation and S-curve designation to
1 (enabled) in the acceleration/deceleration curve designation. Enabling both
settings may cause a malfunction.
Axis Operating Input Memory Areas (Monitor)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
Accelera-
tion/
decelera-
tion curve
designa-
tion Exponential
curve desig-
nation a+16 03 1: Use exponential acceleration/
deceleration curve. Not sup-
ported Supported Not sup-
ported
S-curve des-
ignation 04 1: Use S-curve acceleration/
deceleration curve. Supported Supported Not sup-
ported
Forward rotation current
limit 14 1: Use forward torque limit Supported Supported Not sup-
ported
Reverse rotation current
limit 15 1: Use reverse torque limit Supported Supported Not sup-
ported
Name Word Bits Contents G Series W Series SMARTSTE
P Junior
Name Word Bits Contents
PCU Positioning Com-
pleted Flag b 05 0
→
1: Positioning completed.
No Origin Flag 06 0: Origin established.
1: No origin established.
Origin Stop Flag 07 0: Outside origin range.
1: Within origin range.
Error Flag 12 0: No axis error.
1: Axis error.
Busy Flag 13 1: Axis busy (axis operation executing)
Feedback present posi-
tion b+6
b+7 --- Present position:
Feedback position (rightmost word)
Feedback position (leftmost word)
Command present posi-
tion b+8
b+9 --- Present position:
Command position (rightmost word)
Command position (leftmost word)