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

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Software Limits Section 10-8
When the axis movement command is executed (after alarm reset) from the
position at which the software limit is exceeded (software limit has been
detected), the operation will depend on the direction in which the software
limit is detected, as follows:
Movement command Opposite direction of software limit Direction of software
limit
ABSOLUTE MOVEMENT
RELATIVE MOVEMENT Operation is possible.
Even if the target position is still beyond the software limit in the
direction that has been detected, positioning will be performed to
the target position and a Software Limit Error will not be detected
even after positioning is completed.
If the target position is beyond the software limit in the other direc-
tion, a Software Limit Error will occur when the other software limit
is reached.
If, however, RELATIVE MOVEMENT is executed using a position
command value that exceeds the positioning range
(
−
2,147,483,647 to 2,147,483,647), a Position Designation Error
(error code: 3060) will occur when the command is executed.
A Software Limit Error will
occur when the com-
mand is executed.
INTERRUPT FEEDING Operation depends on ABSOLUTE MOVEMENT or RELATIVE
MOVEMENT.
If the interrupt feeding direction after an interrupt input is opposite
to the starting movement direction (reversal operation), the opera-
tion is as follows:
• If interrupt feeding is performed after passing the software limit in
the direction that has been detected. When the interrupt feeding
position does not reach the software limit, positioning will be com-
pleted. If the software limit will be exceeded due to interrupt feed-
ing, a Software Limit Error will occur when the software limit
position is reached again.
• If interrupt feeding is executed without passing the software limit
in the direction that has been detected, positioning will stop at the
reversal position and reverse operation will not be executed due
to the Driver’s drive prohibited status. In this state, a Software
Limit Error will not be detected.
A Software Limit Error will
occur when the com-
mand is executed.
ORIGIN RETURN Origin return operations are possible when performed in the oppo-
site direction of the software limit that has been detected. If the ori-
gin position exceeds the other software limit, however, a Software
Limit Error will occur when the other software limit is reached. A Software Limit Error will
occur when the com-
mand is executed.
JOG Operation is possible.
A Software Limit Error will not be detected even if jogging is
stopped, or if DECELERATION STOP or EMERGENCY STOP is
executed, at a position that is still beyond the software limit in the
direction that has been detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
A Software Limit Error will
occur when the com-
mand is executed.
SPEED CONTROL
TORQUE CONTROL Operation is possible.
A Software Limit Error will not be detected even if DECELERA-
TION STOP or EMERGENCY STOP is executed at a position that
is still beyond the software limit in the direction that has been
detected.
If operation is not stopped, a Software Limit Error will occur when
the other software limit is reached.
A Software Limit Error will
occur when the com-
mand is executed.