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Stop Functions
Section 10-9
10-9 Stop Functions
10-9-1 Overview
The stop function is used to stop active axes operated by position control,
speed control, or torque control. Axis operation can be stopped using the
deceleration stop method, which stops the axis using a specified deceleration,
or the emergency stop method, which cancels the operating command imme-
diately and stops operation after moving for the remaining pulses in the Servo
Drive's deviation counter. Axis operations are also stopped by the PCU if an
error occurs.
For details on PCU operations when errors occur, refer to
SECTION 12 Trou-
bleshooting
.
10-9-2 Deceleration Stop
Deceleration stop stops the active axis using the deceleration set in the Servo
Parameters when the DECELERATION STOP Bit turns ON in the Axis Oper-
ating Output Memory Area. The deceleration stop operation is executed using
position control with the specified deceleration curve.
When DECLARATION STOP is executed during speed control or torque con-
trol, the feedback speed at that point is used as the start speed, the control
mode switches to position control, and operation decelerates to a stop.
JOG
Operation is possible.
A Software Limit Error will not be detected even if jogging is
stopped, or if DECELERATION STOP or EMERGENCY STOP is
executed, at a position that is still beyond the software limit in the
direction that has been detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
A Software Limit Error will
occur when the com-
mand is executed.
SPEED CONTROL
TORQUE CONTROL
Operation is possible.
A Software Limit Error will not be detected even if DECELERA-
TION STOP or EMERGENCY STOP is executed at a position that
is still beyond the software limit in the direction that has been
detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
A Software Limit Error will
occur when the com-
mand is executed.
PRESENT POSITION
PRESET
If PRESENT POSITION PRESET is executed for a position beyond the software limit in the
present travel direction, the present position will change and a Software Limit Error will not be
detected. If PRESENT POSITION PRESET is executed for a position beyond the software
limit in the direction opposite to the travel direction, the present position will change and a Soft-
ware Limit Error will occur for the software limit in the opposite direction.
SERVO LOCK
SERVO LOCK can be executed regardless of software limit detection status when using an
Incremental Encoder or when using an Absolute Encoder as an Incremental Encoder. When
using an Absolute Encoder, operation depends on the unit version of the PCU as follows:
PCUs with Unit Version 1.2 or Earlier
A software limit error will be detected when SERVO LOCK is executed and the SERVO
LOCK operation will be cancelled. Disable the software limit to enable executing SERVO
LOCK.
PCUs with Unit Version 1.3 or Later
SERVO LOCK can be executed regardless of software limit detection status in the same
way as when using an Incremental Encoder.
Movement command
Opposite direction of software limit
Direction of software
limit
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 ...