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

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Basic Program Examples Section 11-2
This sample program starts Axis 1 torque control when the Torque Control
execution condition goes ON.
The torque command value in the Axis 1 Operating Output Memory Area
must be set to the desired output torque in advance before executing this
sample program.
The torque control's output torque can be changed sequentially during opera-
tion by overwriting the torque command value in the Axis Operating Output
Memory Area.
Torque limits can be enabled/disabled and the speed limit value can be
changed during operation by turning ON/OFF the forward and reverse rotation
current limit bits and changing the option command values in the Axis Operat-
ing Output Memory Area and then turning ON the TORQUE CONTROL Bit.
This sample program allows the TORQUE CONTROL command to be sent
again during an operation by turning the Torque Control execution condition
OFF and then ON again.
A Multistart Error will occur if a TORQUE CONTROL command is sent while
the PCU's Receiving Command Flag is already ON, so include an AND of the
Receiving Command Flag OFF in the execution condition for Torque Control
execution (i.e. from the W203.00 output in the following example). The
TORQUE CONTROL Bit has been added as an OR condition so that the
W203.00 is not output again when the Receiving Command Flag goes from
ON to OFF.
Sample Ladder Program
Program name: Torque Control
Section name: Torque Control
000000
(000000)
1000.00 1000.12
Axis 1 Error
DIFU
(013)
W203.00
1.03
000001
(000006)
1.03 1000.13
Axis 1 Busy
1000.15 1000.12
Axis 1 Error
W203.02
Controlling Axis 1 Torque
W203.02
000002
(000012)
W203.00 1.01 1.15 0.15 1522.00 W203.01 1000.12
Axis 1 Error
1.03
1.03
000003
(000021)
1.03 1000.00
DIFD
(014)
W203.01
Torque Control
execution
condition Axis 1 Re-
ceiving Com-
mand Flag
Axis 1 TORQUE
CONTROL Bit
Execute Axis 1 Torque
Control Command
Axis 1 TORQUE
CONTROL Bit
Controlling Axis 1 Torque
Axis 1 Stop
Execution
Execute Axis 1
Torque Control
Command
Axis 1 TORQUE
CONTROL Bit
Axis 1
SERVO
UNLOCK Axis 1
EMERGENCY
STOP Axis 1 DE-
CELERATION
STOP Axis 1
Communi-
cating Axis 1 Torque
Control
Command
Reception
Complete
Axis 1 TORQUE
CONTROL Bit
Axis 1
TORQUE
CONTROL Bit Axis 1 Receiving
Command Flag
Axis 1 Torque Control
Command Reception
Complete