384
Torque Limits
Section 10-4
When performing an operation to return from the pushing position, the Servo-
motor will remain stopped for the movement command while the position devi-
ation accumulated due to pushing is distributed. When the difference between
the pushing operation target position and pushing stop position is large (the
accumulated position deviation is large), the Servomotor will immediately
accelerate to the target speed after the accumulated position deviation is dis-
tributed.
To prevent this from occurring, set the positioning target position as close to
the pushing stop position as possible to minimize the accumulated position
deviation during pushing. (See below.)
Alternatively, before performing the return operation, send a movement com-
mand to move the axis to the pushing stop position (feedback present position
at pushing stop) and distribute the accumulated position deviation before-
hand, as shown in the following diagram.
Position
Pushing direction target position
(position command value)
Pushing stop position
Speed
Position deviation
Pushing direction target speed
(speed command value)
Start
Pushing
Start in opposite direction
Time
Time
Time
Broken line: Servomotor's actual speed
Solid line: Command speed
Broken line: Feedback present position
(Servomotor's actual position)
Solid line: Command present position
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...