Omron SYSMAC CP Series, Руководство пользователя

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12 Pulse Outputs
12-30
CP2E CPU Unit Software User’s Manual(W614)
12-6 Defining Origin Position
The CP2E CPU Units have two methods that can be used to define the origin position.
• Origin Search
The ORG instruction outputs pulses to turn the motor according to the pattern specified in the origin
search parameters. As the motor turns, the origin search function defines the origin from the following
three kinds of position input signals.
• Origin input signal
• Origin proximity input signal
• CW limit input signal and CCW limit input signal
• Changing the Pulse Output PV
When setting the current position as the origin, execute INI to reset the pulse output PV to 0.
When the ORG instruction executes an origin search, it outputs pulses to actually move the motor and
defines the origin position using the input signals that indicate the origin proximity and origin positions.
The input signals that indicate the origin position can be received from the servomotor ’ s built-in phase-Z
signal or external sensors such as photoelectric sensors, proximity sensors, or limit switches.
In the following example, the motor is started at a specified speed, accelerated to the origin search high
speed, and run at that speed until the origin proximity position is detected. After the Origin Proximity
Input is detected, the motor is decelerated to the origin search low speed and run at that speed until the
origin position is detected. The motor is stopped at the origin position.
Additional Information
The motor can be moved even if the origin position has not been defined, but positioning opera-
tions will be limited as follows:
• Origin return: Cannot be used.
• Positioning with absolute pulse specification: Cannot be used.
• Positioning with relative pulse specification: Outputs the specified number of pulses after set-
ting the present position to 0.
12-6-1 Origin Searches
1
0
1
0
Origin Proximity
Inp
u t Signal
Origin Inp u t
Signal
P u lse fre qu ency
Origin search
acceleration rate
Origin search high speed
Deceleration point
Origin search deceleration rate
Origin search proximity speed
Origin search
initial speed
Start
Exec u tion of ORG
Decelerate from high to lo w speed
Indicated b y the Origin
Proximity Inp u t Signal
Stop
Indicated b y the
Origin Inp u t Signal
Time
(Example for re v ersal mode 1
and method 0 (descri b ed later))