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

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Basic Program Examples
Section 11-2
11-2-7 Speed Control
Overview
This sample program performs speed control on a Servo Drive connected
through MECHATROLINK communications.
Execute this sample program only after starting MECHATROLINK communi-
cations (establishing a connection), executing the Servo Lock function, and
verifying that the Servo Lock is engaged.
In this example, speed control is performed on the Servo Drive registered as
axis 1 using the SPEED CONTROL Bit in the Axis 1 Operating Output Mem-
ory Area.
The Axis Operating Output/Input Memory Areas are based on the settings of
the Common Parameter Area, as shown below. The application example in
11-3-1 Initial PCU Settings shows a sample program that can be used to
make the following settings.
Beginning word of Axis Operating Output Memory Area: CIO 0000
(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)
Beginning word of Axis Operating Input Memory Area: CIO 1000
(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)
This sample program uses the following parts of the CPU Unit's I/O memory
in addition to the CIO Area words listed above.
Work Area (WR Area)
W202.00 to W202.02
These Work Area bits are used to show the progress of function execution
and the execution status.
This sample program starts Axis 1 speed control when the Speed Control
execution condition goes ON.
The speed command value in the Axis 1 Operating Output Memory Area must
be set to the target speed in advance before executing this sample program.
The target speed can be changed sequentially during operation by overwriting
the speed command value for speed control in the Axis Operating Output
Memory Area.
Torque limits can be enabled/disabled and the torque limits can be changed
during operation by turning ON/OFF the forward and reverse rotation current
limit bits and changing the option command values in the Axis Operating Out-
put Memory Area and then turning ON the SPEED CONTROL Bit.
This sample program allows the speed control command to be sent again dur-
ing an operation by turning the Speed Control execution condition OFF and
then ON again.
A Multistart Error will occur if a Speed Control command is sent while the
PCU's Receiving Command Flag is already ON, so the condition that the
Receiving Command Flag is OFF is ANDed with the Speed Control execution
condition (in the W202.00 output circuit). The Axis 1 SPEED CONTROL Bit
has been added as an OR condition so that the W202.00 is not output again
when the Receiving Command Flag goes from ON to OFF.