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

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Speed Control Section 10-5
Status and Monitoring
during Speed Control
When SPEED CONTROL is executed, some of the Status Flags, monitoring
functions, and display units change.
Servo Status Flags in Axis
Operating Input Memory
Area (Word b+1) The functions of bits 07 and 08 in the Servo Status Flags of the Axis Operat-
ing Input Memory Area change depending on whether position control or
speed control is used.
Monitors 1 and 2 in Axis
Operating Input Memory
Areas When the speed (feedback speed, command speed, or target speed) is
selected for monitor 1 or 2, the monitoring unit for position control/torque con-
trol, and speed control will change, as follows:
10-5-3 Switching Control Mode
The PCU's operating commands can be used to switch between position con-
trol, speed control, and torque control of active axes, as follows:
Word Bits Control
mode
Flag name Function Function change timing
b+1 07 Position
control Positioning Com-
pleted (PSET) Flag Sending the position control com-
mand to the Servo Drive com-
pleted and the position is within
Positioning Completion Range 1
(in position).
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
Speed con-
trol Speed Conformity
(V-CMP) Flag Speed matches the speed com-
mand value for speed control. The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
08 Position
control Distribution Com-
pleted (DEN) Flag Sending the position control com-
mand to the Servo Drive com-
pleted (operating for the number of
pulses remaining in the deviation
counter). The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
Speed con-
trol Zero Speed (ZSPD)
Flag Speed control with zero speed in
progress. The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
Control mode Speed monitoring
unit
Unit change timing
Position con-
trol/Torque control Command units/s The unit changes when the command
to switch to position control/torque con-
trol has been received (when the
Receiving Command Flag turns OFF).
Speed control 0.001%
(percentage of Ser-
vomotor's momen-
tary maximum
rotation speed) The unit changes when SPEED CON-
TROL has been received (when the
Receiving Command Flag turns OFF).
Operating
command Control mode Operation when operating command is
executed
ABSOLUTE
MOVEMENT Position control Switches to position control from any control
mode when the command starts and executes
positioning with an absolute position.
RELATIVE
MOVEMENT Position control Switches to position control from any control
mode when the command starts and executes
positioning with a relative position.
ORIGIN
SEARCH Position control A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.
ORIGIN
RETURN Position control A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.