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Origin Search Operation
Section 8-2
Origin Search Operation Diagram for W-series Servo Drives
The speed command value set in the Axis Operating Output Memory Area
using the MOV instruction is output to the PCU automatically during I/O
refresh.
The origin search is started when the ORIGIN SEARCH Bit allocated in the
Axis Operating Output Memory Area turns ON.
Note
Once the origin is established by the PCU, it will not be lost if ORIGIN
SEARCH is executed again. If ORIGIN SEARCH is executed again, the
search operation will be executed using the coordinates based on the previ-
ous origin until the new origin is established. If the software limits are enabled
at this point, the software limits will apply to the origin search operation, caus-
ing operation to stop due to an error. (Positioning will not be reversed at the
software limits when origin searches are performed in reversal mode.) To exe-
cute ORIGIN SEARCH again after the origin has been established, either dis-
able the software limits, or execute DEVICE SETUP or another operation that
will cancel the origin (No Origin Flag = 1) before executing ORIGIN SEARCH.
8-2-2
Origin Search Procedure
Use the following procedure to perform an origin search.
1,2,3...
1.
Set the Common Parameters and save them.
2.
Set the Axis Parameters and save them.
MOV
MOV
MOV
MOV
CPU Unit
a
a+4
a+5
b
b+6
b+7
b+8
b+9
Output during I/O refresh
Input during I/O refresh
PCU
Pn80A
Pn80B
Pn80C
Pn001.1
Pn816
Pn817
Pn818
Pn819
Pn81A
d
d+1
Pn002.2
d+2
Servo Drive
Ladder program
(1)
(2)
(3)
WRITE DATA/SERVO
PARAMETER
ORIGIN SEARCH
Axis Operating Output Memory Areas
:
:
Speed command value
(rightmost word)
Speed command value
(leftmost word)
Axis Operating Input Memory Areas
Feedback present position
(rightmost word)
Feedback present position
(leftmost word)
Command present position
(rightmost word)
Command present position
(leftmost word)
a: Beginning word of Axis Operating Output Areas specified in Common Para (Axis No.
−
1)
×
25
b: Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
d: 1860 hex + (Axis No.
−
1)
×
14 hex
ORIGIN SEARCH Bit
(word a, bit 06)
Use WRITE DATA to
transfer before
executing ORIGIN
SEARCH.
Use WRITE SERVO
PARAMETER to
transfer before
executing ORIGIN
SEARCH.
Axis Parameters
Encoder type
Axis Parameters
Operation mode
selection
Input signal
selection
Function selection
application switch
1
Function selection
application switch
2
Acceleration/de-
celeration param-
eter
Origin search
parameters
Origin proximity input
Phase Z/origin input
Forward drive
prohibited
Reverse
rotation
limit input
Speed
Select the type of
encoder used.
(1) Transfer the Axis Parameters and Servo Parameters.
(2) Set the operating data in the Axis Operating Output Data Areas.
(3) Use the bit in the Axis Operating Output Memory Areas to start
the origin search.
Forward
Forward rotation
limit input
Control status
:
Содержание CJ1W-NC271 - 12-2009
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Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...