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

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26
Starting Operation Section 2-2
When the servo lock operation is performed, the Servomotor is placed in
servo lock status. The SVON (Servo ON) Flag indicating servo status in the
Axis Operating Input Memory Area turns ON when an R88D-WT
@ Servo
Drive and JUSP-NS115 MECHATROLINK-II Application Module are used
together.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Input Memory Area for axis 1 is allocated in
CIO 500. Therefore, the SVON Flag for axis 1 is allocated in CIO 50103.
When the servo lock is no longer required, turn OFF the corresponding
SERVO LOCK Bit in the Axis Operating Output Memory Area.
Positioning Using the Direct Operation RELATIVE MOVEMENT Command
Positioning can be performed for axis 1 using the RELATIVE MOVEMENT
command for direct operation. The RELATIVE MOVEMENT command for
direct operation sends information on the target position and target speed to
the Axis Operating Output Memory Area when the RELATIVE MOVEMENT
Bit turns ON.
In this operation example, the Common Parameters are set so that the begin-
ning word of the Axis Operating Output Memory Area for axis 1 is allocated in
CIO 100. Therefore, the target position and target speed are set as follows:
The RELATIVE MOVEMENT Bit for axis 1 is allocated in CIO 10004. There-
fore, turn this bit ON using the Programming Console.
CIO 101
00
SERVO LOCK Bit
This bit places the Servomotor in Servo lock status
when it is turned ON.
CIO 501
03
SVON Flag
When the Servomotor is in Servo lock status, this
flag is ON. When the Servomotor is in Servo
unlock status, this flag turns OFF.
Word Set value Parameter transfer
setting
Details
CIO 102 A120 hex Position command
value (rightmost
word) Target position: 0007 A120 hex =
500,000 pulses
CIO 103 0007 hex Position command
value (leftmost word)
CIO 104 86A0 hex Speed command
value (rightmost
word) Target speed: 0001 86A0 hex =
100,000 pulses/s
CIO 105 0001 hex Speed command
value (leftmost word)
CIO 100
04
RELATIVE MOVEMENT Bit
This bit executes the RELATIVE MOVEMENT
command for direct operation when it is turned ON.