Omron CJ1W-NC271 - 12-2009, Operation Manual

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345
Using Direct Operation
Section 9-4
Timing Chart for Zero or
Minute Travel Distance The following timing chart applies when ABSOLUTE MOVEMENT is executed
to move to the same position as the present position, or RELATIVE MOVE-
MENT is executed for position data of 0 (i.e., direct operation executed for
travel distance of 0), or the positioning operation is ABSOLUTE or RELATIVE
MOVEMENT for a minute travel distance that will finish in less than one CPU
Unit cycle time.
Even for a zero or minute travel distance, the Receiving Command Flag and
Busy Flag for the movement command will remain ON for at least one CPU
Unit cycle time.
The PCU Positioning Completed Flag for the movement command will remain
OFF for at least one cycle time if positioning stops within the positioning com-
pletion range for the target position.
2710 hex (10000)
3E8 hex (1000)
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
Speed
Receiving Command Flag
(word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
Travel distance: 10,000
(command units)
Target speed: 1,000
(command units/s)
Solid line: Command speed
Broken line: Feedback speed
Time
The Receiving Command Flag turns ON for at least one
cycle time when the movement command is received.
The PCU Positioning Completed Flag is turned OFF when
a movement command is executed.
The PCU Positioning Completed Flag is turned ON when
the number of the Servo Drive's deviation counter residual
pulses is less than the value set for the positioning
completion range. Depending on the number of deviation
counter residual pulses when pulse output has been
completed, a delay may occur in the time between when
the pulse output from the Position Control Unit is
completed until positioning has been completed.
After direct operation starts, the Busy Flag remains ON
until the positioning operation has been completed.
Make sure that the bit for the direct operation movement
command remains ON until the Receiving Command Flag
or Busy Flag turns ON.
0
3E8 hex (1000)
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
RELATIVE MOVEMENT
(word a, bit 04)
Receiving Command
Flag (word b, bit 00)
Busy Flag (word b, bit 13)
PCU Positioning Complet-
ed Flag (word b, bit 05)
a = Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
The Receiving Command Flag and Busy Flag remain
ON for at least one cycle time when the movement
command is received.
The PCU Positioning Completed Flag turns OFF during
execution of the movement command. When the travel
distance is 0, the PCU Positioning Completed Flag
remains OFF for at least one cycle time.