Omron CS1W-MCH71 -, Руководство по эксплуатации

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System Parameters
Section 4-2
Ex) Torque Control
The following example is for a motor rated speed of 3,000 r/min and a
position control switching speed of 1000 (in increments of 0.01%, i.e.,
10%).
Axis-Origin Parameters
Note Abbreviation in the No. column: AA = 1 to 32 (axis number)
Abbreviation in the address column: AA = 0 to 31 (axis number
−
1)
Explanation
Sets the origin search method.
TORQUE [J01] 100 T100;
:
TORQUER [J01] T100;
←
MOVE [J01] 10000;
:
Outputs from a torque of 100% to a
torque of 0%.
Switches to position control mode when
the motor speed reaches 300 r/min or
lower (i.e., 3,000 r/min
×
10%). After
returning to position mode, the system
waits for the positioning complete flag to
turn ON. When the positioning com-
pleted flag turns ON, the next command
(MOVE) is executed.
No. Address in MC
Unit
Name Type Unit Immediate
updating
P4AA01 5AC0h +
(AA * 14h) Origin search method Data --- No
Data configuration Setting range
00000000 to 00000003 Hex
(0 to 3) Initial value
00000001 (1)
31 00
Origin search method
Setting Explanation
0 Origin at power ON
The motor position at powering ON is automatically defined as the
origin.
If an origin search is performed in this mode, the starting position of
the origin search is defined as an origin.
1 Limit reversal
Input of the limit input signal during an origin search reverses the
operation.
After starting an origin search in the origin search start direction at
the origin search feed rate, the speed is changed to the origin search
approach speed at the rise of the origin proximity input signal (Nor-
mally Open contact). At the rise of the origin determine signal after
the fall of the origin proximity input signal, the speed changes to the
origin search creep speed to travel for the final interval and finally an
origin is established.