User manual OMRON CJ1W-C433 REV 02-2008

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Manual abstract: user guide OMRON CJ1W-C433REV 02-2008

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[. . . ] W397-E1-07 SYSMAC CJ1W-NC113/213/413/133/233/433 Position Control Units OPERATION MANUAL CJ1W-NC113/213/413/133/233/433 Position Control Units Operation Manual Revised February 2008 iv Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. !DANGER !WARNING Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. [. . . ] Using a switch with contacts may cause the position of the origin to be displaced due to chattering. When origin search is executed, the operation will differ according to whether or not origin proximity signal is used in the way shown below. With an Origin Proximity Input Signal There is no deceleration when stopping from the origin search proximity speed with the origin input signal. Origin search high speed Acceleration Initial speed Start Stop Deceleration Origin search proximity speed Without an Origin Proximity Input Signal The origin search is conducted at low speed (the origin search proximity speed). There is no deceleration when stopping with the origin input signal. Acceleration Initial speed Start Stop Origin search proximity speed If the origin search proximity speed is less than or equal to the initial speed, there will be no acceleration. Origin Search Direction This setting determines the direction when detecting the origin input signal. During origin search, the origin input signal in the direction of the origin search direction is always being detected. 0: CW direction, 1: CCW direction 156 Origin Search Operation Origin Compensation Value Section 6-4 The origin compensation value setting determines the amount of adjustment that is applied when adjustment is necessary after the origin has been determined (e. g. , if there is inaccuracy in the position at which the proximity sensor turns ON or if the motor has been changed). After the origin is initially detected using origin search, the number of pulses specified with this setting are output, the present position is set to 0, and at the same time, the origin is established (the No Origin Flag turns OFF). Setting range: C0000001 to 3FFFFFFF Hex (1, 073, 741, 823 to 1, 073, 741, 823) The operation patterns that are determined by the above settings are illustrated on the following pages. 6-4-3 Mode 0 Operation Mode Settings An open collector output signal such as a sensor is connected to the origin input signal, and the origin input signal response time is 0. 1 ms. contact setting) In this mode, an origin input signal error (error code 6202) will be generated if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an origin proximity input signal (or a limit input signal if the origin detection method is set to 3). Origin proximity input signal Origin input signal Pulse output Start Origin input signal error (error code 6202) Mode 1 The Z-phase signal from the Servo Drive is connected to an origin input signal. An origin input signal is input and, within an interval of approx. 20 ms after the stop, a error counter reset signal is output. Origin input signal (Z-phase signal) Pulse output Error counter reset Approx. 20 ms (See note) In this mode, if an origin input signal is input during the deceleration from origin search high speed to origin search proximity speed which is initiated by the input of an origin proximity input signal, positioning will be stopped by the first origin input signal after the deceleration has been completed. 157 Origin Search Operation Note Section 6-4 During error counter reset output, if the origin input signal turns ON again, the Servo Drive's error counter reset function is deemed to have been used, and the error counter reset output is turned OFF. In this case, the output time of the error reset counter will be less than 20 ms. Origin Detection Method: 0 When the deceleration time is short, such as in cases where positioning begins from within the origin proximity area, an origin input signal will be detected immediately after the falling edge of the origin proximity input signal. Be sure that the origin proximity input signal dog is long enough (i. e. , more than the deceleration time). Origin proximity input signal Origin input signal (Z-phase signal) Pulse output Start Stop Optimum position for origin proximity input signal OFF. Stop Start Origin Detection Method: 1 If an origin proximity input signal is input during deceleration, the stop position will vary according to the length of the deceleration time. Origin proximity input signal Origin input signal (Z-phase signal) Pulse output (When the deceleration time is long. ) Start Stop (When the deceleration time is short. ) Start Stop Mode 2 This mode is similar to mode 1, except that the positioning completed input signal (INP) is also used. The positioning completed input signal from the Servo Drive is connected to the positioning completed input of the PCU's external I/O connector. 158 Origin Search Operation Section 6-4 Pulse output Time Stop Positioning completed input signal Busy flag Mode 3 Use this mode for a Servo Drive with an origin adjustment function. It also uses the Servo Drive's positioning completed input signal (INP) as the origin search completed signal. Do not use a Z-phase, or error counter reset signal. Origin Detection Method: 0 Deceleration starts on the rising edge of the origin proximity input signal and the origin adjustment command is output on the falling edge. Positioning stops on the rising edge of the positioning completed input signal from the Servo Drive. Origin proximity input signal Origin adjustment command output Positioning completed input signal Pulse output Start Busy Flag Stop Time Note When the origin search is completed in Mode 2 or Mode 3, the Servo Drive's positioning completed input signal is used. The positioning completed input signal waits for the positioning monitor time (axis parameter). If the monitor time is set to "0, " the signal waits until the positioning completed input signal turns ON. Therefore, if a problem exists in the positioning completed input signal wiring or if the servo gain is set to a large value, the busy state continues without completing the positioning. [. . . ] Added information on CW/CCW pulse output direction selection. Page 76: Added information on reverse mode 3. Page 77: Added information on origin search direction and origin search preset. Page 100: Added section on examples of parameter settings. [. . . ]

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