Omron SYSMAC C500-NC222-E, Руководство по эксплуатации

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7-1 CCHG
Before positioning, it is necessary to establish the origin as a reference point,
by means of either CCHG (changing current position) or ORG (origin
search). Use CCHG if it is difficult to establish the origin inputs mechanically
or if you constantly need to re-establish the origin. Turn on the power, and
move the workpiece to the desired origin position by jogging (JOG) or inching
(PLS). Enter 0 with the CCHG command to establish the current position as
the origin. CCHG is only effective when not positioning. During operation
CCHG causes a command error.
7-2 Origin Search (XORG, YORG, IORG)
Origin search establishes the absolute mechanical origin with the origin
search commands XORG, YORG or IORG by using the CW and CCW limits
(Refer to
Section 6 Commands ). This function establishes the origin at the
phase Z of the encoder based on the origin input.
When the origin search starts, the dog approaches the origin input at the high
origin search speed (parameter stored at addresses 415 for the X axis and
815 for the Y axis). At the leading edge of the origin input, the speed slows
and movement comes to a halt and then movement starts again at the low
origin search speed (parameter stored at addresses 417 for the X axis and
817 for the Y axis). The motor axis (or axes) stops at the first phase Z pulse
after the origin input goes OFF during the low origin search speed. Any
movement beyond the edge due to inertia is corrected by reverse movement.
0
Speed
High origin search speed
Low origin search speed
(Reverse movement to
correct for inertial overrun.)
Phase Z
Origin input
(First phase Z pulse after origin input goes OFF during low origin search speed.)
For accurate origin search use a dog with a sufficient length to allow decel-
eration from the high origin search speed to the low origin search speed. If
the dog is too short use a lower high origin search speed.
There are three origin search patterns possible according to the dog position
at the start of the search and the search direction parameter. The following
examples all search clockwise. These three patterns are possible for coun-
terclockwise searches as well.
Search Starting on Origin Input
1, 2, 3... 1. Movement starts in the direction opposite to the search direction at low
origin search speed.
2. Movement stops and reverses direction at the trailing edge of the origin
input.
Search Patterns
Origin Search (XORG, YORG, IORG)
Section 7-2