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

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Origin Return Section 8-4
Note Execute ORIGIN RETURN when the origin has been established. If ORIGIN
RETURN is executed when the origin has not been established, a Present
Position Unknown Error (axis error code: 3030) will occur.
8-4-1 Origin Return Data Settings
A simple explanation of the main parameters and data used to execute ORI-
GIN RETURN is provided here. To execute ORIGIN RETURN, apart from the
parameters explained here, the following parameters also need to be set as
basic settings for operating the PCU.
For details on command units, refer to 7-2 Control Units . The setting units for
parameters and data depend on the specified command unit.
Servo Parameter Area Command Unit Parameters
The command unit default setting is pulses.
G-series Acceleration/Deceleration Constants
Model Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting
R88D-GN @ -
ML2
Pn205 Electronic gear ratio G1 (numerator) --- 1 to
1073741824 4 1
Pn206 Electronic gear ratio G2 (denominator) --- 1 to
1073741824 4 1
R88D-WT @ Pn202 Electronic gear ratio G1 (numerator) --- 1 to 65535 2 4
Pn203 Electronic gear ratio G2 (denominator) --- 1 to 65535 2 1
R88D-WN @ -
ML2
Pn20E Electronic gear ratio G1 (numerator) --- 1 to
1073741824 4 4
Pn210 Electronic gear ratio G2 (denominator) --- 1 to
1073741824 4 1
SMART-
STEP Junior Pn20E Electronic gear ratio G1 (numerator) --- 1 to
1073741824 4 1
Pn210 Electronic gear ratio G2 (denominator) --- 1 to
1073741824 4 1
Type Parame-
ter No.
Parameter name Unit Setting
range
Parame-
ter size
Default
setting
Accel-
eration/
decel-
eration
con-
stants Pn107 Linear acceleration constant 10,000
command
units/s
2
−
32768
to 32767
2 100
Pn10A Linear deceleration constant 10,000
command
units/s
2
−
32768
to 32767
2 100
Accel-
eration/
decel-
eration
filters Pn10E Moving average time 0.1 ms 0 to 5100 2 0