Omron CJ1W-NC271 - 12-2009, Operation Manual

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Acceleration and Deceleration Operations
Section 7-4
7-4-4 Origin Search Acceleration/Deceleration Operations
The origin search operation of the PCU consists of the following three steps.
1,2,3... 1. Search for origin proximity signal
2. Search for origin signal after detection of origin proximity signal
3. Positioning for final travel distance to return to zero point (origin) after de-
tection of origin signal
For details on the origin search, refer to 8-2 Origin Search Operation .
The acceleration when origin search starts and the speed change when
switching to another step depend on the acceleration/deceleration curve (cir-
cled in above diagram) determined by the acceleration/deceleration filter set-
ting and acceleration/deceleration set in Servo Parameters (Pn80A to Pn812
for W Series, Pn107 and Pn10A for G Series, Pn811 and Pn814 for G5
Series).
When the final travel distance to return to zero point (origin) is a negative or
small value, the axis will decelerate to a stop as shown in the following dia-
gram, and then reverse and perform the set positioning. Both the deceleration
and acceleration will be determined also by the set acceleration/deceleration
curve (circled in following diagram).
Origin proximity
inp
u t signal
Origin inp u t signal/
Phase Z signal
Speed command v al u e
Speed
Start
Zero point ret u rn approach speed 1 (Pn 8 17) for W Series
Origin ret u rn approach speed 1 (Pn110) for G Series
and (Pn 8 23) for G5 Series
Final tra v el distance to ret u rn to zero point
(Pn 8 19) for W Series
Origin ret u rn final distance (Pn204) for G Series
Final distance for Origin ret u rn (Pn 8 25) for G5 Series
Origin search direction
Stop
1
0
1
0
(1 ) (2 ) (3 )
Zero point ret u rn approach speed 2 (Pn 8 1 8 ) for W Series
Origin ret u rn approach speed 2 (Pn111) for G Series
and (Pn 8 24) for G5 Series
Origin inp u t signal/
Phase Z signal
Speed
Stop
Origin search direction
1
0
Zero point ret u rn approach speed 1 (Pn 8 17) for W Series
Origin ret u rn approach speed 1 (Pn110) for G Series
and (Pn 8 23) for G5 Series
Final tra v el distance to ret u rn to zero point
(Pn 8 19) for W Series
Origin ret u rn final distance (Pn204) for G Series
Final distance for Origin ret u rn (Pn 8 25) for G5 Series
Zero point ret u rn approach speed 2 (Pn 8 1 8 ) for W Series
Origin ret u rn approach speed 2 (Pn111) for G Series
and (Pn 8 24) for G5 Series