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

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Origin Return Section 8-4
The acceleration/deceleration curve designation, and forward/reverse rotation
current limit designation data are enabled when the ORIGIN RETURN 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
Timing Chart
The following timing chart is for when ORIGIN RETURN is executed.
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 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)
3E8 hex (1000)
Speed command value
(words a+4, a+5)
ORIGIN RETURN
(word a, bit 07)
Speed
Origin Stop Flag
(word b, bit 07)
PCU Positioning Complet-
ed Flag (word b, bit 05)
Target speed: 1,000
(command units/s)
Solid line: Command speed
Broken line: Feedback speed
Time
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
The PCU Positioning Completed Flag is turned OFF
when a movement command is executed.
The PCU Positioning Completed Flag is turned ON
when the number of the Servo Drive's deviation counter
residual pulses is less than the value set for the
positioning completion range. Depending on the number
of deviation counter residual pulses when pulse output
has been completed, a delay may occur in the time
between when the pulse output from the Position
Control Unit is completed until positioning has been
completed.