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

Page: 321 / 644

294
Origin Search Operation Section 8-2
erates to a stop using the emergency stop torque set in Pn06E for G Series or
Pn406 for W Series or lower and puts Servo in free run state) so that the Ser-
vomotor stops properly when a limit input is received.
8-2-5 Starting Origin Search
Origin search is performed according to the speed command value set in the
Axis Operating Output Memory Areas and started when the ORIGIN
SEARCH Bit turns ON. Execute ORIGIN SEARCH when the Busy Flag for the
corresponding axis is OFF. If ORIGIN SEARCH is executed while the axis's
Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORI-
GIN SEARCH will not be executed.
When starting ORIGIN SEARCH, make sure that the ORIGIN SEARCH Bit
will remain ON until the Busy Flag turns ON.
If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY
STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN
SEARCH command will be ignored. Be sure that all of these command bits
are OFF before executing an origin search.
Timing Chart
The following timing charts are for when ORIGIN SEARCH is executed with
the origin search operation set to reversal mode 1, the origin detection mode
set to origin proximity input signal reversal, and the origin search direction set
to forward.
Timing Chart Operation
1
0
1
0
Origin proximity
input signal
Origin input signal
(Phase Z signal)
Origin search
reverse direction
Final travel distance to return to zero point
Origin search direction
Limit input signal in origin search direction
Stop Start