Omron SYSMAC CJ Series, Operation Manual

Page: 5 / 371

TABLE OF CONTENTS
v
Precautions vii
1 Intended audience...................................................................................................................................vii
2 General precautions ................................................................................................................................vii
3 Safety precautions...................................................................................................................................vii
4 Operating environment precautions .......................................................................................................viii
5 Application precautions ........................................................................................................................... ix
6 Conformance to EC Directives ................................................................................................................ xi
SECTION 1
Introduction
1
1-1 Overview .................................................................................................................................................. 1
1-2 System philosophy ................................................................................................................................... 2
1-3 Motion control concepts ........................................................................................................................... 4
1-4 Servo system principles ......................................................................................................................... 13
1-5 Trajexia system architecture ................................................................................................................ 16
1-6 Cycle time .............................................................................................................................................. 17
1-7 Program control and multi-tasking.......................................................................................................... 22
1-8 Motion sequence and axes .................................................................................................................... 23
1-9 Motion buffers ....................................................................................................................................... 31
1-10 Mechanical system................................................................................................................................. 33
1-11 Axis numbers.......................................................................................................................................... 34
SECTION 2
Installation and wiring
35
2-1 Unit components .................................................................................................................................... 35
2-2 Wiring ..................................................................................................................................................... 40
2-3 Installation .............................................................................................................................................. 50
2-4 Specifications ......................................................................................................................................... 55
SECTION 3
Data exchange
59
3-1 Introduction............................................................................................................................................. 59
3-2 Memory areas ........................................................................................................................................ 60
3-3 Data........................................................................................................................................................ 62
3-4 FINS commands..................................................................................................................................... 65
SECTION 4
BASIC commands
73
4-1 Categories .............................................................................................................................................. 73
4-2 All BASIC commands ............................................................................................................................. 84
SECTION 5
Examples
265
5-1 How-to’s ............................................................................................................................................... 266
5-2 Practical examples ............................................................................................................................... 320