Omron CS1W-MCH71 -, Operation Manual

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Command Details
Section 6-3
• Operation patterns are specified in the parameter [P4AA01: Origin search
method], and there are four different origin search methods as shown
below:
• The machine coordinate origin is defined externally using the signal spec-
ified in the parameter [P4AA06: Origin determine signal] (Expect for the
origin search method 0: Origin at power ON).
• After origin search completion, following settings are not canceled. The
status before execution is maintained.
• The workpiece coordinate system offset specified using OFFPOS
command
• The coordinate system number specified using ORIGIN or WORK
command
• For the origin search executed for an axis using the absolute encoder, the
machine coordinate origin is defined using an external signal as well.
• DATUM command execution will be completed when origin detection for
all the specified axes is completed.
• During the command execution, the command code “0004h” is output to
the system variable “Command execution status” (SW0228 for Axis 1).
(For details of command codes, see
4-5 System Variables Command
Code in Command Execution Status on page 158.)
Origin search
method
Function
Origin at power ON The position when the power is turned ON is defined as
the origin.
When DATUM is executed, the present position becomes
the origin. There is no axis movement.
Limit reversal It is durable even if the relations between the present
position and the origin are not constant.
Operation start: The operation is started in the origin
search start direction at the origin search feed rate.
CW/CCW input: The operation direction is reversed.
Origin proximity signal input ON: Changes the speed to
the origin search approach speed.
Origin determine signal input ON after Origin proximity
signal input OFF: Changes the speed to the origin search
creep speed to travel for the final travel distance, and then
defines the origin.
2-level speed in 1
direction The relations between the present position and the origin
must be constant.
Operation start: The operation is started in the phase-Z
detection direction at the origin search approach speed.
Origin determine signal input: Changes the speed to the
origin search creep speed to travel for the final travel dis-
tance, and then defines the origin.
3-level speed in 1
direction The relations between the present position and the origin
must be constant.
Operation start: The operation is started in the phase-Z
detection direction at the origin search feed rate.
Origin proximity signal input ON: Changes the speed to
the origin search approach speed.
Origin determine signal input ON after Origin proximity
signal input OFF: Changes the speed to the origin search
creep speed to travel for the final travel distance, and then
defines an origin.