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

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Torque Limits Section 10-4
Timing Chart
The following timing chart is for when the override function is executed during
a jogging operation.
10-4 Torque Limits
10-4-1 Overview
When using a G-series Servo Drive or a W-series Servo Drive, torque limits
can be applied to Servomotor axis operation in position control functions
(ABSOLUTE MOVEMENT, RELATIVE MOVEMENT), ORIGIN SEARCH,
ORIGIN RETURN, JOG, SPEED CONTROL, TORQUE CONTROL, and Stop
Functions (DECELERATION STOP, EMERGENCY STOP).
There are two types of torque limit, one that constantly functions for forward
and reverse rotation and the other that can be disabled/enabled in operating
commands. For speed control, torque limits can also be added to option com-
mand values. (For details, refer to
Option Command Value during Speed Con-
trol in 10-5-2 Starting Speed Control .)
When enabling multiple torque limit functions simultaneously, the Servomo-
tor's output torque is limited by the minimum torque limit setting.
The SMARTSTEP Junior Servo Drives do not support torque control. The fol-
lowing settings and functions cannot be used.
3E8 hex (1000)
1000
1500
1388 hex (5000 = 50.00%) 3A98 hex (15000 = 150.00%)
500
Speed command value
(words a+4, a+5)
JOG (word a, bit 09)
Override Enable Bit
(word a, bit 14)
Override (word a+14)
Speed
Receiving Command
Flag (word b, bit 00)
Busy Flag (word b, bit 13)
Jogging starts
(JOG Bit ON) Override
disabled Override
enabled Override
changed Jogging stops
(JOG Bit OFF)
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
Time
While override is enabled, the target speed
is obtained by multiplying the speed
command value by the override ratio.
Changes to the override value while
override is enabled are immediately
effective in operations.
The acceleration/deceleration used to
change the speed when switching between
enabling and disabling override or
changing the override value depends on
the acceleration/deceleration operation
setting for the operation being performed.
The Receiving Command Flag turns ON
for at least one cycle time when the
command to start axis operation is
received. The status of this flag does not
change when the override value is
changed.
The status of the Busy Flag does not
change when switching between
enabling or disabling override, or when
the override value is changed.