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Interface Specifics
Section 5-4
Programing Example
Forced Origin Bits
A Forced Origin Bit is used to set the present position to 0, and thus establish-
ing it as the origin, eliminating the need to perform an origin search.
The bit is ignored if the Busy Flag is ON.
Keep the bit ON until the Busy Flag turns ON.
The Forced Origin operation can be performed in the servo-lock or servo-
unlock status. This operation won’t be interrupted while in progress even if a
deceleration stop is executed.
The software limits are checked when this command is executed, and the
present position won’t be set to 0 and an error will occur if the position of the
origin is not within the software limits.
!Caution
The Forced Origin operation for the absolute encoder axis applies only to the
present position registered in the MC Unit. The present position registered in
the absolute encoder will not be changed. Therefore, the position will be auto-
matically updated to the present position registered in the absolute encoder
when the servo is locked again.
DIFU(13)
R1
n+7, 04/
n+11, 04
Condition to reset error counter
R1
Positioning
Completed
n+22, 05/
OUT
(Error Counter
Reset)
n+7, 04/n+11, 04
Error Counter
Reset
Work Bit
n+38, 05
Word
Axis
Bit
I/O
Valid mode
MC221
MC421
n+7
n+11
X axis
05
Output
Manual
n+9
n+13
Y axis
---
n+15
Z axis
---
n+17
U axis
Signal
Function
↑
A forced origin is set.
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 ...