Omron SYSMAC CJ Series, Operation Manual

Page: 23 / 371

Motion control concepts Section 1-3
11
1-3-3-4 Adding axes
It is very useful to be able to add all movements of one axis to another. One
possible application is for instance changing the offset between two axes
linked by an electronic gearbox. The CJ1W-MCH72 provides this possibility by
using the
ADDAX command. The movements of the linked axis will consists of
all movements of the actual axis plus the additional movements of the master
axis.
In the figure, A is the time axis and B is the speed axis.
1-3-4 Other operations
1-3-4-1 Cancelling moves
In normal operation or in case of emergency it can be necessary to cancel the
current movement from the buffers. When the
CANCEL or RAPIDSTOP
commands are given, the selected axis respectively all axes will cancel their
current move.
1-3-4-2 Origin search
The encoder feedback for controlling the position of the motor is incremental.
This means that all movement must be defined with respect to an origin point.
The
DATUM command is used to set up a procedure whereby the CJ1W-
MCH72 goes through a sequence and searches for the origin based on digital
inputs and/or Z-marker from the encoder signal.
A
B
A
B
A
B
BASE(0)
ADDAX(2)
FORWARD
MOVE(100) AXIS(2)
MOVE(-60) AXIS(2)