Omron NJ501-1300, Руководство пользователя

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9-9
9 Motion Control Functions
NJ-series CPU Unit Motion Control User’s Manual (W507)
9-1 Sing
le-axis P
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ition
Co
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9
9-1-6
Ov
err
ide F
actors
• Immediate Stop and Error Reset
• Immediate Stop and Servo OFF
The priorities for each stop method are listed in the following table. If a stop with a higher priority stop
method occurs while stopping, the stop method will switch to the higher priority method.
Example:
The following figure is an example of an immediate stop when the limit input signal is ON and the
immediate stop input changes to ON during a deceleration to a stop.
You can use the MC_SetOverride instruction to set override factors for the motion of the axes that are
currently in motion. The velocity override factor is set as a percentage of the target velocity. It can be set
between 0% and 500%. If an override factor of 0% is set for the target velocity, operating status will con-
tinue with the axis stopped as a velocity of 0. The set override factor is read as long as the overrides are
enabled. If the overrides are disabled, the override factors return to 100%. If the maximum velocity is
exceeded when an override factor is changed, the maximum velocity for the axis is used.
Stop Priorities
Stop method
Priority
(higher numbers mean higher priority)
Immediate stop and Servo OFF 4
Immediate stop and error reset 3
Immediate stop 2
Deceleration stop 1
9-1-6 Override Factors
Velocity
Time
The actual position when the cause of the
immediate stop occurred is used as the
command position. Inertia will take the axis
past this position, but it will return to the
actual position when the cause of the
immediate stop occurred and stop there.
Velocity
Time
The command is no longer updated. When
the Servo is turned OFF, the axis stops using
the method that is specified by the Disable
Operation Option Code (object 605C hex)
that is set in the Servo Drive.
Command velocity
Immediate stop input
Limit input