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

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Speed Control Section 10-5
Note The DEVIATION COUNTER RESET can be used to reset the remaining posi-
tion deviation to 0 for PCUs with unit version 1.3 or later. Refer to
10-10 DEVI-
ATION COUNTER RESET for details on DEVIATION COUNTER RESET.
10-5 Speed Control
10-5-1 Overview
In Speed control, the PCU controls the rotation speed of the Servomotor by
directly executing speed commands in a speed loop without using the Servo
Drive's position loop.
Speed control can be used when a W-series Servo Drive is connected.
With the SMARTSTEP Junior Servo Drives, speed commands cannot be
given directly for a speed loop. When using a SMARTSTEP Junior Servo
Drive, position control can be performed while changing the speed using jog-
ging or direct operation to achieve feeding at desired speeds.
10-5-2 Starting Speed Control
Speed control is performed by setting the target speed in the speed command
value for speed control in the Axis Operating Output Memory Areas and
started when the SPEED CONTROL Bit turns ON. When starting speed con-
trol, make sure that the SPEED CONTROL Bit remains ON until the Receiving
Command Flag or Busy Flag in the Axis Operating Input Memory Area turns
ON.
If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY
STOP, OR DECELERATION STOP command bit is turned ON, the SPEED
CONTROL command will be ignored. Be sure that all of these command bits
are OFF before executing speed control.
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
(deviation
consumption) Start in
opposite
direction
Solid line: Command speed
Time
Time
Time
Broken line: Servomotor's actual speed
Broken line: Feedback present position
(Servomotor's actual position)
Solid line: Command present position