Omron CJ1W-NC271 - 12-2009, Руководство по эксплуатации

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Speed Control
Section 10-5
Axis Operating Input Memory Areas (Monitoring)
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 speed control is received by the PCU. Use the Receiving
Command Flag when starting and changing option commands to control the
ON/OFF timing for SPEED CONTROL.
During speed control, bits 07 and 08 in the Servo Status Flags (word b+1) of
the Axis Operating Input Memory Area function as the Speed Conformity Flag
and Zero Speed Flag respectively.
The command present position that is output during speed control is calcu-
lated from the feedback position and the position deviation that is inferred
from the current speed.
Acceleration and Deceleration during Speed Control
When SPEED CONTROL is executed, the Servo Drive performs stepped
speed control from the present feedback speed to the target speed specified
in the speed command value for speed control. Apart from smoothly increas-
ing/decreasing the speed command value (for speed control) when starting
speed control, shock in acceleration/deceleration when performing speed
control can also be minimized by setting the Servo Parameters
Soft Start
Acceleration Time and Soft Start Deceleration Time to create a trapezoidal
speed curve.
G5-series Acceleration/Deceleration Constants for Speed Control
G-series Acceleration/Deceleration Constants for Speed Control
Name Word Bits Contents
Receiving Command
Flag b 00 0: Command reception enabled.
0
→
1: Command reception started.
1: Receiving command (command
reception disabled).
Error Flag 12 0: No axis error.
1: Axis error has occurred.
Busy Flag 13 1: Axis busy (axis operation executing).
Speed Conformity Flag b+1 07 1: Speed matches the speed command
value for speed control.
Zero Speed Flag 08 1: Detecting zero speed.
Torque Limit Status Flag 09 1: Torque limit in progress.
Feedback present posi-
tion b+6
b+7 --- Present position
Feedback position (rightmost word)
Feedback position (leftmost word)
Command present posi-
tion b+8
b+9 --- Present position
Command position (rightmost word)
Command position (leftmost word)
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn312 Soft start acceleration time ms 0 to 10000 2 0
--- Pn313 Soft start deceleration time ms 0 to 10000 2 0
Type Parameter
No.
Parameter name Unit Setting
range
Data
length
Default
setting
--- Pn058 Soft start acceleration time ms 0 to 5000 2 0
--- Pn059 Soft start deceleration time ms 0 to 5000 2 0