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

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Torque Limits Section 10-4
When performing an operation to return from the pushing position, the Servo-
motor will remain stopped for the movement command while the position devi-
ation accumulated due to pushing is distributed. When the difference between
the pushing operation target position and pushing stop position is large (the
accumulated position deviation is large), the Servomotor will immediately
accelerate to the target speed after the accumulated position deviation is dis-
tributed.
To prevent this from occurring, set the positioning target position as close to
the pushing stop position as possible to minimize the accumulated position
deviation during pushing. (See below.)
Alternatively, before performing the return operation, send a movement com-
mand to move the axis to the pushing stop position (feedback present position
at pushing stop) and distribute the accumulated position deviation before-
hand, as shown in the following diagram.
Position
Pushing direction target position
(position command value)
Pushing stop position
Speed
Position deviation
Pushing direction target speed
(speed command value)
Start Pushing Start in opposite direction
Time
Time
Time
Broken line: Servomotor's actual speed
Solid line: Command speed
Broken line: Feedback present position
(Servomotor's actual position)
Solid line: Command present position