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

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Origin Return Section 8-4
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Origin return is performed according to the speed command value set in the
Axis Operating Output Memory Areas and started when the ORIGIN
RETURN Bit turns ON.
Execute ORIGIN RETURN when the Busy Flag for the corresponding axis is
OFF. If ORIGIN RETURN is executed while the axis's Busy Flag is ON, a Mul-
tistart Error (axis error code: 3050) will occur and ORIGIN RETURN will not
be executed. When starting ORIGIN RETURN, make sure that the ORIGIN
RETURN 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
RETURN command will be ignored. Be sure that all of these command bits
are OFF before executing an origin return.
The target speed for an origin return operation can be changed while ORIGIN
RETURN is being executed by setting the new speed command value in the
Axis Operating Output Memory Area. (For details on changing the target
speed, which is the same as positioning operations, refer to
9-4-4 Changing
Target Speed .)
Torque limit during operation is possible with origin return operations. For fur-
ther details on the torque limit function, refer to
10-4 Torque Limits .
R88D-WN @ -
ML2
Pn522 Positioning completion range 1 Command unit 0 to
1073741824
4 3
Pn803 Zero point width Command unit 0 to 250 2 10
SMART-
STEP Junior Pn522 Positioning completion range 1 Command unit 0 to
1073741824
4 10
Pn803 Zero point width Command unit 0 to 250 2 10
Name Word Bits Contents G Series W Series SMARTSTEP
Junior
ORIGIN RETURN Bit a 07 0
→
1: Starts origin return opera-
tion
Supported Supported Supported
Speed command value a+4
a+5 --- Speed command value (rightmost
word)
Speed command value (leftmost
word)
Unit: Command units/s
Command range: 1 to
2,147,483,647 (00000000 hex to
7FFFFFFF hex)
The upper limit setting for the
speed command value depends
on the Servo Drive specifications.
Supported Supported Supported
Accelera-
tion/decel-
eration
curve des-
ignation 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/decel-
eration 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
Model Parameter
No.
Parameter name Unit Setting
range
Parameter
size
Default
setting