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

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Changing to CS1W/CJ1W-NC271/471/F71 from CS1W/CJ1W-NC113/133/213/233/413/433
Appendix E
Note In earlier PCUs, if ORIGIN SEARCH is executed again after establishing the origin, the origin will be lost
(until ORIGIN SEARCH execution is completed). In the CS1W/CJ1W-NC271/471/F71, however, once
the origin has been established, the origin will not be lost, even if ORIGIN SEARCH is executed again. If
ORIGIN SEARCH is executed again, the search operation will be executed using the coordinates based
on the previous origin until the new origin is established. When the software limits are enabled at this
point, the software limits will apply to the origin search operation, causing operation to stop due to an
error. (Positioning will not be reversed at the software limits when origin searches are performed in rever-
sal mode.)
Position Control (Direct Operation)
Acceleration/Deceleration Settings
The acceleration/deceleration settings for position control (direct operation) are specified in the Operating Data
Area at start up in earlier PCUs. In CS1W/CJ1W-NC271/471/F71 PCUs, however, these settings are set in the
Servo Parameters (using Servo Parameter transfer functions).
CS1W/CJ1W-NC113/133/213/233/413/433:
The following operation data is designated for the time from the initial speed until the maximum speed is
reached.
Acceleration time (ms)
Deceleration time (ms)
For each parameter, the data that has been set in the Operating Data Area is enabled when the direct opera-
tion (ABSOLUTE MOVEMENT or RELATIVE MOVEMENT) is started.
CS1W/CJ1W-NC271/471/F71
The rate of increase or decrease in speed within a specified time unit is set in the following Servo Parameters.
Each parameter is set in the Servo Drive via the PCU using the PCU's Servo Parameter transfer functions
(WRITE/SAVE SERVO PARAMETER Bits).
When a trapezoidal curve (linear acceleration/deceleration) is used with the initial speed set to 0 (pulses/s), the
set values for the acceleration time and deceleration time in the Operating Data Area of the earlier PCUs are
converted to the following settings.
Pn80A (first-step linear acceleration constant):
The operation uses a first-step acceleration/deceleration curve, so this parameter setting is not used.
Pn80B (second-step linear acceleration constant):
The maximum speed and initial speed in the axis parameters and the acceleration time in the Oper-
ating Data Area of earlier PCUs are converted to the value determined from the following equation.
Type Parameter
No.
Parameter name Unit Setting range Parameter
size
Default
setting
Acceler-
ation/
deceler-
ation
con-
stants Pn80A First-step linear accel-
eration constant 10,000 command
units/s
2
1 to 65535 2 100
Pn80B Second-step linear
acceleration constant 10,000 command
units/s
2
1 to 65535 2 100
Pn80C Acceleration constant
switching speed 100 command
units/s 0 to 65535 2 0
Pn80D First-step linear decel-
eration constant 10,000 command
units/s
2
1 to 65535 2 100
Pn80E Second-step linear
deceleration constant 10,000 command
units/s
2
1 to 65535 2 100
Pn80F Deceleration constant
switching speed 100 command
units/s 0 to 65535 2 0
Acceleration time
×
10
Maximum speed
−
Initial speed (0)
Pn80B = (
×
10,000 pulses/s
2
)