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

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Speed Control Section 10-5
A command range check (0 to 399) is performed for the option command
value for speed control when the speed control command is given. If the
option command value is out of range, an option command value error (error
code: 3064 or 3065) will occur. The command range check will be performed
even if the Speed Command Input Change parameter in the Function Selec-
tion Application Switches 2 is set to disable using the option command value.
Always set the option command value to 0 when it is not being used.
Note The same option command value parameter is used for both speed and
torque control. The allowable setting ranges for speed and torque control,
however, are different. When switching between speed and torque control, be
sure that the option command value is set within the proper range for the cur-
rent type of control.
Changes to the speed command value for speed control during operation are
always effective. During speed control, by setting a new speed command
value for speed control in the Axis Operating Output Memory Area, the target
speed for speed control can be changed.
The settings for option command values 1 and 2 (torque limit/torque feed for-
ward command values) and Forward/Reverse Rotation Current Limit Designa-
tion Bits are enabled when the SPEED CONTROL Bit turns ON. Changing
these command values while speed control is being executed and then turn-
ing ON the SPEED CONTROL Bit again enables the option command values
and Current Limit Designation Bits to be changed during operation.
It is necessary to pay attention to the change of output torque when switching
from the speed control mode to the position control mode with deceleration
stop. For details, refer to
10-5-3 Switching Control Mode .
Note When executing movement commands sequentially, make sure that the
movement command bit remains OFF for a minimum of either the PLC cycle
time × 2 or the MECHATROLINK communications cycle × 2, whichever is
longer. If the time that the movement command bit is OFF is too short, the
PCU will not be able to detect the rising edge of the movement command bit,
preventing reception of the command.
Axis Operating Input Memory Areas (Monitoring)
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
Error Flag 12 0: No axis error.
1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing).
Speed Conformity Flag b+1 07 1: Speed matches the speed command
value for speed control.
Zero Speed Flag 08 1: Detecting zero speed.
Torque Limit Status Flag 09 1: Torque limit in progress.
Feedback present posi-
tion b+6
b+7 --- Present position
Feedback position (rightmost word)
Feedback position (leftmost word)
Command present posi-
tion b+8
b+9 --- Present position
Command position (rightmost word)
Command position (leftmost word)