Omron CJ1W-NC271 - 12-2009, Operation Manual

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Application Examples
Section 11-3
11-3-3 Switching among Position, Speed, and Torque Control
Overview
The basic program examples introduced in the following sections are com-
bined to perform position, speed, and torque control.
11-2-3 Transferring Servo Parameters (Used to transfer acceleration/de-
celeration constants for positioning.)
11-2-4 Servo Lock/Unlock
11-2-6 Positioning (Absolute Movement or Relative Movement)
11-2-7 Speed Control
11-2-8 Torque Control
11-2-9 Deceleration Stop or Emergency Stop
This program uses I/O bits to execute the Servo Lock/Unlock function, start
controlling an axis (positioning, speed control, or torque control), or switch the
control status of an operating axis.
In this example, only axis 1 is controlled.
This application example is normally executed after the initial PCU settings
application shown in
11-3-1 Initial PCU Settings .
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.
000048
(000308)
W412.04 1025.12 1025.14 W412.05
000049
(000312)
W412.02 1025.12 W412.06
W412.04 1522.01
000050
(000318)
W412.01 W412.03 W412.06 W412.02
W412.02
000051
(000323)
W412.03 W412.05 W412.06 W412.04
W412.04
Axis 2 Error Waiting for Axis
2 Save End Axis 2 Servo Parameter Transferring
Axis 2 Error Waiting for
Axis 2 Save
Received
Axis 2 Communicating
Waiting for Axis
2 Save End
Axis 2 Save Error End
Execute Axis
2 Save
Axis 2 Save
Received
Waiting for Axis 2
Save Received
Axis 2 Save Error End
Axis 2 Save
Received
Waiting for Axis
2 Save End
Axis 2 Save
Normal End
Axis 2 Save Normal End
Axis 2 Save Error End
Waiting for Axis 2 Save
Received
Waiting for Axis 2 Save
End