Omron CJ1W-NC271 - 12-2009, Operation Manual

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413
Stop Functions
Section 10-9
DECELERATION STOP can be executed for an axis that is servo-locked as
long as SERVO UNLOCK, DEVIATION COUNTER RESET, or EMERGENCY
STOP is not being executed and the command bits for these commands are
not ON and as long as an axis error has not occurred.
When executing DECELERATION STOP, make sure that the DECELERA-
TION STOP Bit remains ON until the Receiving Command Flag or Stop Exe-
cution Flag in the Axis Operating Input Memory Area turns ON.
All axis operation commands except for SERVO UNLOCK, DEVIATION
COUNTER RESET, and EMERGENCY STOP will be ignored during DECEL-
ERATION STOP execution or while the DECELERATION STOP Bit is ON.
Servo Parameter Area G5-series Acceleration/Deceleration Parameters
G-series Acceleration/Deceleration Parameters
W-series and SMARTSTEP Junior Acceleration/Deceleration Parameters
Speed
Movement command DECELERATION
STOP executed
Time
Regardless of the previous control mode,
DECELERATION STOP is executed after
switching to position control.
Operation decelerate to a stop according
to the deceleration set in the Servo
Parameters for acceleration/deceleration.
The Servomotor is set to Servo lock status
after operation stops.
Type Parame-
ter No.
Parameter name Unit Setting
range
Parame-
ter size
Default
setting
Acceleration/
deceleration con-
stants Pn811 Linear acceleration constant 10,000 command
units/s
2
−
32768 to
32767
2 100
Pn814 Linear deceleration constant 10,000 command
units/s
2
−
32768 to
32767
2 100
Acceleration/
deceleration fil-
ters Pn818 Position command FIR filter time
constant 0.1 ms 0 to 10000 2 0
Type Parame-
ter No.
Parameter name Unit Setting
range
Parame-
ter size
Default
setting
Acceleration/
deceleration con-
stants Pn107 Linear acceleration constant 10,000 command
units/s
2
−
32768 to
32767
2 100
Pn10A Linear deceleration constant 10,000 command
units/s
2
−
32768 to
32767
2 100
Acceleration/
deceleration fil-
ters Pn10E Moving average time 0.1 ms 0 to 5100 2 0
Type Parame-
ter No.
Parameter name Unit Setting
range
Parame-
ter size
Default
setting
W
Series
SMART
STEP
Junior
Accelera-
tion/
decelera-
tion con-
stants Pn80D First-step linear deceleration
constant 10,000
command
units/s
2
1 to
65535 2 100 Sup-
ported Not sup-
ported
Pn80E Second-step linear decelera-
tion constant 10,000
command
units/s
2
1 to
65535 2 100 Sup-
ported Sup-
ported
Pn80F Deceleration constant switch-
ing speed 100 com-
mand
units/s 0 to
65535 2 0 Sup-
ported Not sup-
ported