Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

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Using Direct Operation Section 9-4
b = Beginning word of Axis Operating Input Areas specified in Common
Para (Axis No.
−
1)
×
25
The Receiving Command Flag turns ON for at least one cycle time when the
command to start direct operation is received by the PCU. Use the Receiving
Command Flag when starting and changing target positions to control the
ON/OFF timing for ABSOLUTE MOVEMENT and RELATIVE MOVEMENT.
9-4 Using Direct Operation
9-4-1 Starting Direct Operation
Two methods for starting direct operation are available, as follows:
1,2,3... 1. When the ABSOLUTE MOVEMENT Bit turns ON
2. When the RELATIVE MOVEMENT Bit turns ON
When starting direct operation, make sure that the ABSOLUTE MOVE-
MENT/RELATIVE MOVEMENT Bit remains ON until the Receiving Command
Flag or the Busy Flag in the Axis Operating Input Memory Area turns ON.
Direct operation commands will be ignored if the SERVO UNLOCK, DEVIA-
TION COUNTER RESET, EMERGENCY STOP, or DECELERATION STOP
Bit is ON. Be sure these bits remain OFF while performing direct operation.
Executing ABSOLUTE
MOVEMENT ABSOLUTE MOVEMENT positions the axis at the specified position using the
position command value in the Axis Operating Output Memory Area as abso-
lute data. If ABSOLUTE MOVEMENT is started without the origin established
(No Origin Flag = 1), a Present Position Unknown Error (axis error code:
3030) will occur, and positioning will not be executed.
The positioning range for ABSOLUTE MOVEMENT is any absolute position
for which the travel amount from the present position is between
−
2,147,483,648 and 2,147,483,647 (command units).
If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds
this range, positioning will be performed not to a position based on the
present origin, but to a position exceeding the upper or lower limit of the com-
mand present position.
Note If ABSOLUTE MOVEMENT is executed for an absolute position that exceeds
the positioning range, the positioning operation will be in the reverse direction
to the present origin and the origin will be offset. Do not allow the position
command value for ABSOLUTE MOVEMENT to exceed the positioning range.
Also, set limit input signals and software limits so that operation will not be
performed outside the present positioning range.
0
−
2,147,483,648
2,147,483,647
−
1,747,483,648
Example: 400,000,000
Command present position
Position command value for
ABSOLUTE MOVEMENT
In this example, positioning is possible
between
−
1,747,483,648 and 2,147,483,647.
ABSOLUTE MOVEMENT execution
If ABSOLUTE MOVEMENT is executed with a position command value of
−
2,147,483,648 to
−1
,747,483,649 in the above example, positioning will be
performed to the specified position.