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

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Origin Return Section 8-4
Execute PRESENT POSITION PRESET when the Busy Flag for the corre-
sponding axis is OFF. If PRESENT POSITION PRESET is executed while the
axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur
and PRESENT POSITION PRESET will not be executed. When executing
PRESENT POSITION PRESET, make sure that the PRESENT POSITION
PRESET Bit will remain ON until the Busy Flag turns ON.
Axis Operating Input Memory Areas (Monitor)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
Timing Chart
In the following timing chart, the present position is changed to “0.” When the
present position changes to “0,” that position becomes the origin, so the Ori-
gin Stop Flag turns ON. The status of the PCU Positioning Completed Flag
(word b, bit 05) does not change.
8-4 Origin Return
The origin return operation is used to return the axis to the origin from any
position. ORIGIN RETURN is executed when the ORIGIN RETURN Bit turns
ON.
Name Word Bits Contents
No Origin Flag b 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 present position (rightmost
word)
Feedback present position (leftmost
word)
Command present posi-
tion b+8
b+9 --- Present position:
Command position (rightmost word)
Command position (leftmost word)
0
Position command value
(word a+2, a+3)
PRESENT POSITION
PRESET (word a, bit 08)
Origin Stop Flag
(word b, bit 07)
No Origin Flag
(word b, bit 06)
Busy Flag
(word b, bit 13)
1 cycle time min.
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25