User manual OMRON CJ1W-NC471 12-2009

[. . . ] W426-E1-10 SYSMAC CJ1W-NC271/NC471/NCF71/ NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units OPERATION MANUAL CJ1W-NC271/NC471/NCF71/NCF71-MA CS1W-NC271/NC471/NCF71 Position Control Units Operation Manual Revised December 2009 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. Failure to heed precautions can result in injury to people or damage to property. !DANGER !WARNING !Caution Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. [. . . ] When using a W-series Servo Drive, the axis will operate according to the Select Stop when Prohibited Drive Is Input (Pn001. 1) setting in the Servo Parameters after the limit input signal turns ON and until the axis operation stops. When using a SMARTSTEP Junior Servo Drive, the Servomotor will decelerate to a stop using the maximum Servomotor torque. Reverse Pattern For reversal mode 1, the positioning relationship between the limit input and the origin proximity signal is as shown by the two patterns in the following diagram. When these modes are used, the axis operates according to the Stop Selection for Drive Prohibit Input for G-series Servo Drives (Pn066) or Select Stop when Prohibited Drive Is Input for W-series Servo Drives (Pn001. 1) for the shaded areas in the diagram. Origin search 1 direction limit input 0 Speed Origin search direction Limit input in opposite direction 1 0 from origin search direction 1 Origin proximity 0 input signal Speed Origin search direction Note If the Servo Parameter (Pn505 for G5 Series, Pn066 for G Series and Pn001. 1 for W Series) is set to stop operation with a free run when a limit input is input when using a G-series or a W-series Servo Drive, the momentum of the previous operation may cause the machine to run in the limit input direction. 313 Origin Search Operation Section 8-2 When origin searches are performed using reversal mode 1 to 3 as the operation mode, either enable the Servo Drive's dynamic brake, or set the Stop Selection for Drive Prohibition Input for G5-series Servo Drives (Pn505), the Stop Selection for Drive Prohibit Input for G-series Servo Drives (Pn066) or Select Stop when Prohibited Drive is Input for W-series Servo Drives (Pn001. 1) to 1 (decelerates to a stop using the immediate stop torque set in Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or Pn406 for W Series or lower and locks Servo in zero clamp mode) or 2 (decelerates to a stop using the immediate stop torque set in Pn511 for G5 Series, the emergency stop torque set in Pn06E for G Series or Pn406 for W Series or lower and puts Servo in free run state) so that the Servomotor stops properly when a limit input is received. 8-2-5 Starting Origin Search Origin search is performed according to the speed command value set in the Axis Operating Output Memory Areas and started when the ORIGIN SEARCH Bit turns ON. Execute ORIGIN SEARCH when the Busy Flag for the corresponding axis is OFF. If ORIGIN SEARCH is executed while the axis's Busy Flag is ON, a Multistart Error (axis error code: 3050) will occur and ORIGIN SEARCH will not be executed. When starting ORIGIN SEARCH, make sure that the ORIGIN SEARCH Bit will remain ON until the Busy Flag turns ON. If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY STOP, OR DECELERATION STOP command bit is turned ON, the ORIGIN SEARCH command will be ignored. Be sure that all of these command bits are OFF before executing an origin search. Timing Chart The following timing charts are for when ORIGIN SEARCH is executed with the origin search operation set to reversal mode 1, the origin detection mode set to origin proximity input signal reversal, and the origin search direction set to forward. Timing Chart Operation Origin proximity input signal 1 0 Origin input signal 1 (Phase Z signal) 0 Final travel distance to return to zero point Origin search reverse direction Stop Start Origin search direction Limit input signal in origin search direction 314 Origin Search Operation Timing Chart Speed command value (words a+4, a+5) ORIGIN SEARCH (word a, bit 06) Forward rotation limit input 1 0 Origin proximity input 3E8 hex (1000) Section 8-2 1 0 Origin input 1 0 Speed Time The PCU Positioning Completed Flag is turned ON when the number of the Servo Drive's deviation counter residual pulses is less than the value set for the positioning completion range. Depending on the number of deviation counter residual pulses when pulse output has been completed, a delay may occur in the time between when the pulse output from the Position Control Unit is completed until positioning has been completed. After starting the origin search, the Busy Flag turns ON until the origin search operation has completed. Make sure that the ORIGIN SEARCH Bit remains ON until the Busy Flag turns ON. PCU Positioning Completed Flag (word b, bit 05) No Origin Flag (word b, bit 06) Origin Stop Flag (word b, bit 07) Busy Flag (word b, bit 13) a = Beginning word of Axis Operating Output Areas specified in Common Parameters + (Axis No. -1) × 25 b = Beginning word of Axis Operating Input Areas specified in Common Parameters + (Axis No. -1) × 25 Note If the origin search preset is used, the PCU Positioning Completed Flag, No Origin Flag, and Busy Flag will change status only after the present position preset operation is completed after finishing the origin search operation. Transferring Parameters during Origin Search Operations The Position Control Unit can transfer Servo Parameters during axis operations (i. e. , while the Busy Flag is ON). With Position Control Units with unit version 2. 0 or later, Servo Parameter transfers specified during origin search operation are performed after completing the origin search. Example: The following example illustrates reading Servo Parameters during an origin search operation. SAVE SERVO PARAMETER Bit (word a+1, bit 13) Servo Parameter Transferring Flag (word b, bit 14) Busy Flag (word b, bit 13) When using Position Control Units with unit version 2. 0 or later, any Servo parameter read operations specified during an origin search will be performed after the origin search has been completed. Origin search operation in progress Origin search operation completed 8-2-6 Origin Search Preset The present position can be set to any desired position after completing an origin search. This enables setting an arbitrary electrical origin point corresponding to the mechanical origin point. This function can be used only with Position Control Units with unit version 2. 0 or later. The origin search preset operation is selected using the following Origin Search Preset parameter in the Axis Parameters. 315 Origin Search Operation Axis Parameters PCU's address d+1 15 to 14 0 (fixed) 13 Origin search preset Section 8-2 The following parameters are used to set the origin search operation mode. Contents 12 11 to 08 Origin Origin search detection direction method Setting 07 to 04 Origin search operation 03 to 00 0 (fixed) Bit 13: Origin Search Preset 0: Do not set the present position to the preset position after completing the origin search (default setting). 1: Set the present position to the preset position after completing the origin search. d = 1860 hex + (Axis No. -1) × 14 hex The position command value set in the Axis Operating Output Memory Areas is used as the preset value to be set after completing an origin search. [. . . ] The first word of the Operating Output Memory Area of axis 2 is calculated as follows: a = 4000 + (2-1) × 25 = CIO 4025 In the same way, the allowed interaxial deviation for linear interpolation of a combination of axes 5 to 8 will be set in a+23 (CIO 4148) anda+24 (CIO 4149) of the Operating Output Memory Area of axis 6. The first word of the Operating Output Memory Area of axis 6 is calculated as follows: a = 4000 + (6-1) × 25 = CIO 4125 The allowed deviation is found by comparing the difference in feedback present positions. Make settings so that operation starts from same present positions for axes 1 and 2 or axes 5 and 6 if detecting interaxial deviation is to be enabled (i. e. , if the interaxial deviation is set to a positive number). Also, if either axis 1 or 2 or either axis 5 or 6 will be used for linear interpolation, set the allowed interaxial deviation of each axis to 0 (i. e. , do not detect interaxial deviation). [. . . ]