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

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Torque Limit Function Section 9-6
9-5-5 Present Position during Interrupt Feeding
The positioning range for direct operation (ABSOLUTE MOVEMENT and
RELATIVE MOVEMENT) is a command present position range of
−
2,147,483,648 to 2,147,483,647 (command units) when it is not limited by
limit input signals or software limits. (For details on the command present
position, refer to
7-3 Coordinate System and Present Position . For details on
RELATIVE MOVEMENT, refer to Executing RELATIVE MOVEMENT in 9-4-1
Starting Direct Operation .)
When INTERRUPT FEEDING is executed, the positioning range and position
command value setting range are the same, but the positioning range is sub-
ject to the following conditions when interrupt input signals are input near the
upper limit/lower limit of the positioning range.
When the interrupt feeding operation after interrupt input exceeds the upper
or lower limit of the positioning range due to the
Final Travel Distance for
External Positioning setting and the input position of the interrupt input signal,
the current position reference point (i.e., the origin) and the positioning range
change and positioning to the original position is no longer possible.
When interrupt feeding is used, set the limit inputs, software limits, and other
required settings, and make sure that the positioning range is not exceeded
due to the interrupt feeding operation.
9-6 Torque Limit Function
When using a W-series Servo Drive, set Servo Parameters Forward Rotation
External Current Limit (Pn404) and Reverse Rotation External Current Limit
(Pn405), and turn ON the Forward Rotation External Current Limit Designa-
tion Bit and Reverse Rotation External Current Limit Designation Bit in the
Axis Operating Output Memory Area when starting a direct operation to apply
a current (torque) limit during direct operation.
When using a G-series Servo Drive, set Servo Parameter No. 2 Torque Limit
(Pn05F) and turn ON the Forward Rotation External Current Limit Designation
Bit and Reverse Rotation External Current Limit Designation Bit in the Axis
Operating Output Memory Area when starting a operation to apply a current
or torque limit during direct operation.
The Current Limit Designation Bit can also be turned ON during direct opera-
tion started without turning ON the Current Limit Designation Bits. If another
direct operation command is executed at this point, the torque limit function
can be switched during operation.
0
P
0
0
−
2,147,483,648
−
2,147,483,648
2,147,483,647
2,147,483,647
−
2,147,483,648
4,294,967,296
2,147,483,647
Physical position
PCU present position
Positioning range when interrupt feeding is started
Interrupt feeding start
Interrupt input signal
Positioning without input of
internal input signal
Final travel distance for external positioning
Position after interrupt feeding
Positioning range from point P