User manual OMRON CS1W-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. [. . . ] If that speed is at least equal to the initial speed, there will be acceleration and deceleration. Initial speed Time Initial speed Time The override is not enabled with respect to pulse output during origin search, but it is enabled with respect to the amount of pulse output set for origin compensation. In this case, the origin search proximity speed corresponds to an override setting of 100%. Therefore, if the override is set to 200%, pulse output for the origin compensation value is made at twice the speed of the origin search proximity speed, as shown below. Override 200 Override enable 0 Twice the origin search proximity speed Acceleration Pulse output Time Approx. 0. 5 s Movement for origin compensation Deceleration Note If the speed during movement for compensation is greater than the initial speed as a result of the override, there will be acceleration and deceleration with respect to the pulse output. 163 Origin Search Timing Charts Section 6-5 6-5 6-5-1 Origin Search Timing Charts Without Origin Compensation Origin proximity input signal Origin input signal ORIGIN SEARCH When Using an Origin Proximity Input Signal Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 Busy Flag 1 0 10 ms max. Stop 164 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal Section 6-5 ORIGIN SEARCH 0 Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag Busy Flag 0 10 ms max. 1 0 1 0 1 0 1 Stop 6-5-2 With Origin Compensation Origin proximity input signal When Using an Origin Proximity Input Signal Origin input signal ORIGIN SEARCH Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 Busy Flag 1 0 10 ms max. Stop 165 Origin Search Timing Charts When Not Using an Origin Proximity Input Signal Origin input signal Section 6-5 ORIGIN SEARCH 0 Pulse output Time Start Positioning Completed Flag Origin Stop Flag No Origin Flag 1 0 1 0 1 0 1 Busy Flag 0 10 ms max. Stop 166 Origin Search Timing Charts Section 6-5 6-5-3 Origin Search Deceleration Stop When a deceleration stop is executed during an origin search, the origin search is canceled. The following diagram shows an example of a deceleration stop during an origin search when there is an origin proximity input signal reversal. ORIGIN SEARCH Origin proximity input signal Origin input signal Limit signal input, (in search direction) STOP Pulse output Time Start Deceleration Stop Execution Flag Positioning Completed Flag No Origin Flag Start Stop Origin Stop Flag Busy Flag Error counter reset output 167 Origin Search Timing Charts Section 6-5 6-5-4 Emergency Stop of Origin Search The origin search will be interrupted if the emergency stop input signal is input while the origin search is being executed. To execute the origin search again, first release the pulse output prohibition. The following diagram shows an example of an emergency stop during an origin search when there is an origin proximity input signal reversal. ORIGIN SEARCH Origin proximity input signal Origin input signal RELEASE PROHIBIT/ ERROR RESET Emergency stop input Pulse output Time Start Stop Error Flag Deceleration Stop Execution Flag Positioning Completed Flag No Origin Flag Start Stop Origin Stop Flag Busy Flag Error counter reset output 168 Present Position Preset Section 6-6 6-6 6-6-1 Present Position Preset PRESENT POSITION PRESET changes the present position to any value. Outline of Operation When the PRESENT POSITION PRESET Bit is turned ON, the present position is changed to the value set in the operating data area. Direct Operation and the Operating Data Area . Starting Direct Operation During Memory Operation . 176 177 177 177 178 178 178 179 179 179 179 180 182 182 184 184 185 186 187 187 188 188 190 Operations With Direct Operation . 7-6-1 7-6-2 7-6-3 Calculation of Basic Acceleration/Deceleration Times . Calculation of Acceleration/Deceleration Times for Continuous Positioning . Calculation of Acceleration/Deceleration Times when the Speed is Changed During Operation. 7-7-1 7-7-2 7-7-3 7-7-4 175 Outline Section 7-1 7-1 Outline Position control is carried out by setting positions, speeds, and acceleration/ deceleration times each time in the operating data area specified by the common parameters. CPU Unit (1) 1. Set the data in the operating data area. Start operation using the operating memory area. (2) Operating data area Position (rightmost word) Position (leftmost word) Speed (rightmost word) Speed (leftmost word) Acceleration time (rightmost word) Acceleration time (leftmost word) Deceleration time (rightmost word) Deceleration time (leftmost word) PCU Output at I/O refresh time Present position (rightmost word) Input at I/O refresh time Speed (See note 1. ) Present position (leftmost word) CIO Area Operating memory area Output at I/O refresh time Absolute movement (word n, bit 03) (See note 2. ) Relative movement (word n, bit 04) CW position Status Input at I/O refresh time Status Note 1. When it is the X axis. I: Beginning word address of area designated in common parameters. [. . . ] Page 55: Added information on unused axes. Page 66: Added row to table for settings for unused axes. Page 68: Added column to table for unused axes. Added information on settings for unused axes. [. . . ]