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System Parameters
Section 3-3
High- and Low-speed
Origin Search Feed Rates
These parameters set the high- and low-speed feed rates for origin searches.
The high-speed feed rate is the feed rate at which the axis is moved until the
origin proximity input signal is detected during an origin search. The origin
search low-speed feed rate is used after the origin proximity input signal is
received until phase Z is detected.
In an origin search, the Unit accelerates to the origin search high-speed feed
rate and searches for the origin proximity input signal. When the origin prox-
imity input signal is found, the Unit decelerates to the origin search low-speed
feed rate and searches for phase Z. Settings must be made for each axis.
Refer to
Feed Rate Setting Ranges
for more details on possible ranges.
Acceleration/Deceleration
Curve
A trapezoidal curve or an S-curve can be selected. The default setting is for a
trapezoidal curve. The accelerations for these curves are shown below.
Trapezoidal Curve
S-curve
Note
The S-curve is achieved using a trinomial function.
Acceleration, Deceleration, Interpolation Acceleration and Interpolation Deceleration Times
These parameters set the acceleration, deceleration, interpolation accelera-
tion and interpolation deceleration times. The acceleration and interpolation
acceleration times specify the time required to reach the maximum feed rate.
The deceleration and interpolation deceleration times specify the time
required to decelerate from the maximum speed to zero.
Set these parameters for each axis used. The setting range is from 0 to
10,000 in 2-ms units.
Origin proximity
input detected.
Start of the
origin search
Origin
High-speed origin
search feed rate
Phase Z detected.
Low-speed origin
search feed rate
Speed
Time
Acceleration time
Deceleration time
Stable rate time
Speed
Time
Acceleration time
Deceleration time
Stable rate time
Summary of Contents for CS1W-MC221 -
Page 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Page 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
Page 3: ...iv ...
Page 5: ...vi ...
Page 11: ...xii ...
Page 15: ...xvi ...
Page 19: ...xx ...
Page 27: ...xxviii Conformance to EC Directives 6 ...
Page 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Page 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Page 227: ...200 Command Area Section 3 6 ...
Page 351: ...324 Interface Specifics Section 5 4 ...
Page 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Page 575: ...548 Error Log Section 12 6 ...
Page 589: ...562 Performance Appendix A ...
Page 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Page 683: ...656 Origin Search Patterns Appendix F ...
Page 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...