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

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Jogging Section 10-2
W-series and SMARTSTEP Junior Acceleration/Deceleration Constants
First-step acceleration/deceleration curve operations require parameter set-
tings for Pn80B and Pn80E only. For the acceleration/deceleration curve,
Pn810 and Pn811 must be set when using an exponential curve, and Pn812
must be set when using an S-curve.
The SMARTSTEP Junior Servo Drives do not support the following parame-
ters: Pn80A, Pn80C, Pn80D, and Pn80F. They also do not support accelera-
tion/deceleration filters, so the filters cannot be set. One-step linear
acceleration/deceleration curves are set using only Pn80B and Pn80E.
For details on acceleration/deceleration curves, refer to 7-4 Acceleration and
Deceleration Operations .
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
W
Series
SMART-
STEP
Junior
Accelera-
tion/
decelera-
tion con-
stants Pn80A First-step linear acceleration
constant 10,000
command
units/s
2
1 to
65535 2 100 Sup-
ported Not sup-
ported
Pn80B Second-step linear accelera-
tion constant 10,000
command
units/s
2
1 to
65535 2 100 Sup-
ported Sup-
ported
Accelera-
tion/
decelera-
tion filters Pn810 Exponential accelera-
tion/deceleration bias Command
units/s 0 to
32767 2 0 Sup-
ported Not sup-
ported
Pn811 Exponential accelera-
tion/deceleration time con-
stant 0.1 ms 0 to 5100 2 0 Sup-
ported Not sup-
ported
Pn812 Movement average time 0.1 ms 0 to 5100 2 0 Sup-
ported Not sup-
ported
Name Word Bits Contents G Series W Series SMART-
STEP
Junior
JOG a 09 0
→
1: Starts jogging.
1
→
0: Stops jogging.
Sup-
ported Sup-
ported Sup-
ported
Direction designation 10 0: Forward rotation direction
1: Reverse rotation direction
Sup-
ported Sup-
ported Sup-
ported
Speed command value a+4
a+5 --- Speed command value (rightmost word)
Speed command value (leftmost word)
Unit: Command units/s
Command range: 0 to 2,147,483,647
(00000000 hex to 7FFFFFFF hex)
The upper limit setting of the speed com-
mand value depends on the specifica-
tions of the Servo Drive.
Sup-
ported Sup-
ported Sup-
ported
Accelera-
tion/decelera-
tion curve
designation Exponential
curve desig-
nation a+16 03 1: Use exponential acceleration/decelera-
tion curve. Not sup-
ported Sup-
ported Not sup-
ported
S-curve des-
ignation 04 1: Use S-curve acceleration/deceleration
curve. Sup-
ported Sup-
ported Not sup-
ported
Forward rotation current limit 14 1: Use forward torque limit. Sup-
ported Sup-
ported Not sup-
ported
Reverse rotation current limit 15 1: Use reverse torque limit. Sup-
ported Sup-
ported Not sup-
ported