Omron CS1W-213 - REV 02-2008, Operation Manual

Page: 168 / 401

143
SECTION 6
Defining the Origin
This section explains the origin search and origin return operations. With memory operation, if positions are designated by
absolute values, or if the ABSOLUTE MOVEMENT command is executed by direct operation, it will be essential to
execute an origin search and establish the origin before positioning.
Origin return is used to return the axis to the origin from any given location. Any location can be made the origin by using
the PRESENT POSITION PRESET command to change the present position to 0. Refer to
6-6 Present Position Preset for
information on resetting the present position.
6-1 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
6-2 Origin Search Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
6-3 Data Settings Required for Origin Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
6-3-1 Beginning Words of Operating Memory Area, Operating Data Area,
and Parameter Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
6-3-2 Axis Parameter Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
6-3-3 Operating Memory Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
6-3-4 Allocation of Operating Data Areas
(Supported for Unit Version 2.2 or Later) . . . . . . . . . . . . . . . . . . . .
149
6-4 Origin Search Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
6-4-1 Operation Pattern Settings for Origin Search . . . . . . . . . . . . . . . . . . 149
6-4-2 Details of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
6-4-3 Operation Mode Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
6-4-4 Origin Search Operation and Origin Detection Direction Settings . 158
6-4-5 Operation Pattern With Origin Compensation . . . . . . . . . . . . . . . . . 163
6-5 Origin Search Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
6-5-1 Without Origin Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
6-5-2 With Origin Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
6-5-3 Origin Search Deceleration Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
6-5-4 Emergency Stop of Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . 168
6-6 Present Position Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
6-6-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
6-6-2 Beginning Words of Operating Memory Area, Operating Data Area,
and Parameter Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
169
6-6-3 Operating Memory Area Allocation and Operating Data Area Settings 169
6-6-4 Timing Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
6-7 Origin Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
6-7-1 Allocation of Operating Memory Area and Setting of Operating
Data Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
170
6-7-2 Timing Chart. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
6-8 Z-phase Margin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
6-8-1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
6-8-2 Calculating the Z-phase Margin (Example) . . . . . . . . . . . . . . . . . . . 172