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421
SECTION 11
Sample Programs
This section provides basic program examples and application examples for using the Position Control Unit.
11-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
422
11-2 Basic Program Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
423
11-2-1
Transferring PCU Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
423
11-2-2
Starting and Stopping MECHATROLINK Communications. . . . . .
428
11-2-3
Transferring Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
429
11-2-4
Servo Lock/Unlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
436
11-2-5
Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
438
11-2-6
Positioning (Absolute Movement or Relative Movement) . . . . . . . .
439
11-2-7
Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
442
11-2-8
Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
443
11-2-9
Deceleration Stop or Emergency Stop . . . . . . . . . . . . . . . . . . . . . . .
445
11-2-10 Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
446
11-3 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
448
11-3-1
Initial PCU Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
448
11-3-2
Servo Parameter Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
454
11-3-3
Switching among Position, Speed, and Torque Control . . . . . . . . . .
466
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 ...