Omron CJ1W-NC271 - 12-2009, Operation Manual

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Basic Program Examples
Section 11-2
11-2-5 Origin Search
Overview
This sample program executes an origin search on a Servo Drive connected
through MECHATROLINK communications.
Execute this sample program only after starting MECHATROLINK communi-
cations (establishing a connection), executing the Servo Lock function, and
verifying that the Servo Lock is engaged.
In these examples, the origin search is performed on the Servo Drive regis-
tered as axis 1.
The Axis Operating Output/Input Memory Areas are based on the settings of
the Common Parameter Area, as shown below. The application example in
11-3-1 Initial PCU Settings shows a sample program that can be used to
make the following settings.
Beginning word of Axis Operating Output Memory Area: CIO 0000
(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)
Beginning word of Axis Operating Input Memory Area: CIO 1000
(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)
This sample program uses the following parts of the CPU Unit's I/O memory
in addition to the CIO Area words listed above.
Work Area (WR Area)
W350.00 to W350.02
These Work Area bits are used to show the progress of function execution
and the execution status.
Timer Area
TIM0002
Used as a watchdog timer to detect an origin search timeout error.
This sample program starts an origin search on axis 1 when the Origin Search
execution condition goes from OFF to ON. The speed command value and
origin search speed must be set in advance in the Axis 1 Operating Output
Memory Area before executing this sample program.
If the Axis 1 origin is not established within 10 seconds after the origin input
signal is detected and the
Final Travel Distance to Return to Zero Point posi-
tioning is performed, the Origin Search Timeout will occur and W305.02 will
be turned ON for one cycle.