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

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PCU Data Settings for Direct Operation Section 9-3
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
The settings of the following are enabled when the movement command start
bit turns ON: Position command value, Acceleration/Deceleration Curve Des-
ignation Bit, Interrupt Feeding Designation Bit, and Forward/Reverse Rotation
Current Limit Designation Bit.
The speed command value can always be changed during operation. By over-
writing the speed command value, the speed for the positioning operation can
be changed.
The G-series Servo Drives do not support exponential curve designation fil-
ters. When using a G-series Servo Drive, do not attempt to use an exponential
curve designation.
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 (Monitoring)
Accelera-
tion/decel-
eration
curve
designa-
tion Exponential
curve desig-
nation a+16 03 1: Use exponential accelera-
tion/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
Name Word Bits Contents G Series W Series SMARTST
EP Junior
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
PCU Positioning Com-
pleted Flag 05 0
→
1: Positioning is completed.
No Origin Flag 06 0: Origin established.
1: No origin established.
Error Flag 12 0: No axis error.
1: Axis error has occurred.
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)