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

Страница: 423 / 687

395
Speed Control
Section 10-5
Example Timing Chart for W-series Speed Control
0
50%
75%
0000C350 hex (50.000%)
32 hex (50)
000124F8 hex (75.000%)
Speed command value for speed
control (words a+6, a+7)
Option command value 1
(words a+10, a+11)
Monitor type (word a+15)
0008 hex (Monitor 1: Feedback speed)
SPEED CONTROL
(word a+1, bit 02)
DECELERATION STOP
(word a, bit 15)
Forward Rotation Current Limit
Designation Bit (word a+16, bit 14)
Speed
Receiving Command Flag
(word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
Stop Execution Bit
(word b, bit 15)
Speed Conformity Flag
(word b+1, bit 07)
Zero Speed Flag
(word b+1, bit 08)
Torque Limit Status Flag
(word b+1, bit 09)
Monitor 1: Feedback speed
(words b+10, b+11)
Control mode
(Position
control)
Speed control
Position
control
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
Torque limit enabled
Monitor unit: Command units/s
Time
Broken line: Feedback speed
Solid line: Command speed
The target speed can be changed at any time during
speed control by overwriting the speed command
value.
The torque limit operation can be switched between
enabled and disabled status during operation by
changing the option command value and Current
Limit Designation Bit settings during speed control,
and executing SPEED CONTROL.
The function combination depends on the setting in
Pn002.0 (torque command input change).
Axes operating with speed control are stopped using
DECELERATION STOP or EMERGENCY STOP.
In this example, the Servo Parameter Pn002.0
(torque command input change) is set to 3: Current
Limit Designation Bit are used.
The acceleration/deceleration during speed control
depends on the setting in the Servo Parameter
Soft Start
Acceleration/Deceleration Time , and the deceleration for
deceleration stop depends on the settings in the Servo
Parameters related to acceleration/deceleration.
The Receiving Command Flag turns ON for at least one
cycle time when the movement command is received.
Bits 07 and 08 in the Servo Status Flags (word b+1)
function, respectively, as the Speed Conformity Flag
and Zero Speed Flag from the time when SPEED
CONTROL is received (when the Receiving Command
Flag turns OFF) until the command to switch to
position control, such as DECELERATION STOP, is
received (when the Receiving Command Flag turns
OFF), as indicated by the shaded area.
The Torque Limit Status Flag is ON when the torque
limit function is enabled and operating. This flag does
not turn ON if the output torque reaches the limit value
or lower during Servomotor rotation and thus the
torque limit function is not ON.
When the speed (feedback speed, command speed, or
target speed) is selected for monitor 1 or 2, the
monitoring unit for position control/torque control, and
speed control will change. The speed command value
for speed control (unit: 0.001%) is used from when the
speed control command is received (when the
Receiving Command Flag turns OFF) and the speed
command value for position control (command units/s)
is used from when the command to switch to position
control or torque control is received.
Monitor unit: 0.001% (percentage of Servomotor's momentary
maximum rotation speed)