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

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Torque Limits Section 10-4
Timing Charts
Example: Using Torque
Limit during Position
Control Execution The following timing chart is for when RELATIVE MOVEMENT is executed.
The timing chart for ABSOLUTE MOVEMENT is the same, except that posi-
tioning is executed with the absolute position.
Example: Enabling Torque Limit during Positioning
2710 hex (10000)
3E8 hex (1000)
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
Forward Rotation Current Limit
Designation Bit (word a+16, bit 14)
Speed
Receiving Command Flag
(word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Completed
Flag (word b, bit 05)
Torque Limit Status Flag
(word b+1, bit 09)
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
Travel distance: 10,000
(command units)
Target speed: 1,000
(command units/s)
The torque (current) limit designated at the
time the movement command turned ON is
effective, and functions until the setting is
changed with another movement command.
Solid line: Command speed
Broken line: Feedback speed
The Torque Limit Status Flag turns ON when the
torque limit function is operating.
This flag does not turn ON if the torque limit
function is not ON because the output torque
reaches the limit value or lower during Servomotor
rotation.
Time
2710 hex (10000)
3E8 hex (1000)
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
ABSOLUTE MOVEMENT
(word a, bit 03)
Forward Rotation Current Limit
Designation Bit (word a+16, bit 14)
Speed
Receiving Command Flag
(word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Completed
Flag (word b, bit 05)
Torque Limit Status Flag
(word b+1, bit 09)
Torque limit not used Torque limit used
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
Absolute position: 10,000
(command units/s)
Target speed:
1,000 (command units/s)
The torque limit operation can be enabled and
disabled during operation by changing the
current (torque) limit designation for the active
axis, and resending the movement command.
Solid line: Command speed
Broken line: Feedback speed
Time
The Torque Limit Status Flag turns ON when
the torque limit function is operating.
This flag does not turn ON if the torque limit
function is not ON because the output torque
reaches the limit value or lower during
Servomotor rotation.