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

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Interrupt Feeding Section 9-5
• When the origin detection method is set to any value except for 0 (Origin
proximity input signal reversal)
• When setting a zero point position offset for an origin search using an
absolute encoder
Pn814 is automatically overwritten by the Position Control Unit when the ori-
gin search operation is started. If interrupt feeding is used after the origin
search, the
Final Distance for External Input Positioning for G-series Servo
Drives (Pn203) or Final Travel Distance for External Positioning for W-series
Servo Drives (Pn814) must be reset.
Axis Operating Output Memory Areas (Operating Commands)
a = Beginning word of Axis Operating Output Areas specified in Common
Para (Axis No.
−
1)
×
25
9-5-4 Timing Chart for Interrupt Feeding
Interrupt feeding is executed by turning ON the INTERRUPT FEEDING Bit in
the Axis Operating Output Area and starting direct operation.
Timing Chart for Interrupt
Feeding Using
ABSOLUTE MOVEMENT The following timing chart is for when INTERRUPT FEEDING is executed with
ABSOLUTE MOVEMENT. The timing chart for RELATIVE MOVEMENT is the
same, except that positioning is executed with the relative position if no inter-
rupt input signal is input.
In interrupt feeding as well as normal direct operations, the target position
(target position for when no interrupt input signal is input), target speed, and
override value can be changed by executing another movement command.
Note that, however, in the interval of positioning for the final travel distance for
external positioning after the input of the interrupt input signal, another
INTERRUPT FEEDING cannot be executed (it will be ignored).
Name Word Bits Contents
INTERRUPT FEEDING a 05 1: Enables interrupt feeding
2710 hex (10000)
3E8 hex (1000)
Position command value
(words a+2, a+3)
Speed command value
(words a+4, a+5)
ABSOLUTE MOVEMENT
(word a, bit 03)
INTERRUPT FEEDING
(word a, bit 05)
Interrupt input signal
Speed
Receiving Command Flag
(word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
Final travel distance for
external positioning (Pn814)
Positioning when internal
input signal is input
Target speed: 1,000
(command units/s)
The INTERRUPT FEEDING is
enabled when the bit for the
movement command turns ON.
Solid line: Command speed
Broken line: Feedback speed
Time
Positioning when no internal input signal is input
(absolute position: 10000 (command unit))