User manual OMRON CJ1W-MCH71

[. . . ] Additionally, there may be severe property damage. Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage. Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage. !Caution OMRON Product References All OMRON products are capitalized in this manual. [. . . ] It is possible to set modes 1 or 2 if this kind of driver is used. Origin Search Operation The following 4 modes are available for origin search operation. 154 Origin Search Operation Origin search operation Reverse modes Section 6-4 There are two patterns possible for origin search operation: the origin search direction and the opposite direction. Direction reversed when input is received from the limit signal in the origin search direction. Operation is stopped and an error is generated when input is received from the limit signal in the origin search direction. Basic functions are the same as with reverse mode 2. When the direction is reversed at the origin proximity input signal, however, shock to mechanical systems is reduced. Origin search is performed in one direction only. Reverse mode 1 Reverse mode 2 Reverse mode 3 Single-direction mode The origin search operation settings are as follows: 0: Reverse mode 1 1: Reverse mode 2 2: Single-direction mode 3: Reverse mode 3 Origin Detection Method The origin detection method specifies settings related to the origin proximity input signal. Depending on the setting of the axis parameter, the following 4 patterns can be selected. 155 Origin Search Operation Setting 0 Origin detection Origin input signal method detection With origin proxim- Origin input signal detected --ity input signal after OFFONOFF of reversal origin proximity input signal. Without origin proximity input signal reversal Origin proximity input signal not used Section 6-4 Notes 1 2 3 Origin input signal detected --after OFFON of origin proximity input signal. The origin proximity input Origin search is persignal is not used. formed at origin search proximity speed only. (Refer to the following diagrams. ) Limit input signal Origin input signal detected Only possible in sinused instead of ori- after ONOFF of limit gle-direction mode. 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. When the origin adjustment command (H-RET) is received by the Servo Drive, the internal error counter is reset by the Z-phase of the encoder and positioning stops. 159 Origin Search Operation Section 6-4 Servo Drive processing (with signal level ON condition set at 1) Origin adjustment command output Z-phase signal Positioning completed Stops here The stop position is the same in Mode 1 and Mode 2. For an operation where the start location of the origin search is different or where the deceleration time is short, refer to the previously-described Mode 1. In Mode 3, if deceleration is not completed when the origin proximity input signal is turned ON and then turned OFF, an origin adjustment signal will be output after deceleration is completed. Origin Detection Method: 1 Deceleration starts on the rising edge of the origin proximity input signal, and an origin adjustment command is output when deceleration is completed. Origin proximity input signal Origin adjustment command output Positioning completed input signal Pulse output Start Busy Flag Stop Time If there is a Z-phase signal during deceleration, the stop position will vary according to the deceleration time. 160 Origin Search Operation Origin proximity input signal Z-phase signal Section 6-4 Pulse output When deceleration time is long Origin adjustment command output Stop Time Start Pulse output When deceleration time is short Origin adjustment command output Stop Time Start Origin Detection Method: 3 Deceleration starts on the rising edge of the limit input signal. After the signal turns OFF, an origin adjustment command output turns ON. If the deceleration is insufficient while the limit input signal is ON, there will be an error. Limit input signal Origin adjustment command output Positioning completed input signal Pulse output Time Start Busy Flag Stop 161 Origin Search Operation Section 6-4 6-4-4 Origin Search Operation and Origin Detection Direction Settings This section provides information about how operation patterns vary according to origin detection methods and the settings in the origin search operation. For the purposes of this explanation, the origin search is conducted in the CW direction. If origin search is conducted in the CCW direction, the search direction and limit input directions will be reversed. Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). Origin search operation 0: Reverse mode 1 Origin proximity input signal Origin input signal Pulse output Start Origin search high speed Origin search proximity speed Stop Stop Start CW limit (See note. ) Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Pulse output Start Stop Stop CW limit (See note. ) Start Stop Start Note If a reversal is initiated by a limit signal, a stop without deceleration will occur, and acceleration will occur after reversing. 162 Origin Search Operation Origin detection method 2: Origin proximity input signal not used Origin search operation 0: Reverse mode 1 Origin input signal Pulse output Start 0 Section 6-4 Origin search proximity speed Stop Stop Start CW limit (See note. ) Stop Start Note If the direction of operation is reversed, the reverse will be sudden, without deceleration or acceleration. 3: Limit input signal used instead of origin proximity input signal Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). An origin detection method error (error code 1607) is generated and settings are not possible. Origin search operation 1: Reverse mode 2 Origin proximity input signal Origin input signal Pulse output Start Stop Stop CW limit (See note. ) Start Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 163 Origin Search Operation Origin detection method 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Section 6-4 Origin search operation 1: Reverse mode 2 Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 2: Origin proximity input signal not used Origin input signal 0 Origin search proximity speed Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6201) Note A limit signal is input and a stop without deceleration will occur as a result. 3: Limit input signal used instead of origin proximity input signal An origin detection method error (error code 1607) is generated and settings are not possible. 164 Origin Search Operation Section 6-4 Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). Origin search operation 2: Single-direction mode Origin proximity input signal Origin input signal Pulse output Start Stop CW limit (See note. ) Start Limit Stop (Error code 6200) CW limit (See note. ) Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. Start 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Pulse output Start Stop CW limit (See note. ) Start Limit Stop (Error code 6200) CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 2: Origin proximity input signal not used Origin input signal Origin search proximity speed Pulse output Start Stop CW limit (See note. ) Start Limit Stop (Error code 6201) CW limit (See note. ) Origin input signal Pulse output Start Limit Stop (Error code 6201) Note A limit signal is input and operation is stopped without deceleration. 165 Origin Search Operation Origin detection method 3: Limit input signal used instead of origin proximity input signal CCW limit input Origin input signal Pulse output Start Stop Section 6-4 Origin search operation 2: Single-direction mode Start Stop CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. Origin detection method 0: Takes origin signal after origin proximity signal turns ON () and OFF (). Origin search operation 3: Reverse mode 3 Origin proximity input signal Origin input signal Pulse output Start Stop Origin search proximity speed Stop CW limit (See note. ) Start Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 166 Origin Search Operation Origin detection method 1: Takes origin signal after origin proximity signal turns ON (). Origin proximity input signal Origin input signal Section 6-4 Origin search operation 3: Reverse mode 3 Pulse output Start Stop Stop Start CW limit (See note. ) Start Limit Stop (Error code 6200) Note A limit signal is input and operation is stopped without deceleration. 6-4-5 Operation Pattern With Origin Compensation An origin compensation value can be set so that the axis is moved by that amount after the origin input signal is detected. [. . . ] Page 68: Added row to table for settings for unused axes. Page 70: Added column to bit configuration table. Page 71: Added information on settings for unused axes. Page 74: Changed "01 to 03" in table to "02 to 03". [. . . ]