Teaching - Omron CS1W-NC113 Manual

Teaching

Operating Data Area
Name Model
Speed NC4j3
NC2j3
NC1j3
Acceleration NC4j3
time
NC2j3
NC1j3
Deceleration NC4j3
time
NC2j3
NC1j3
9-1-5 Timing Chart
Directional speed
(word n, bit 10)
JOG
(word n, bit 09)
Pulse output
Busy Flag
(word, n+8, bit 13)
9-2 Teaching
9-2-1 Outline of Operation
206
If the software limit has been disabled (CW limit equal to or less than CCW limit)
by the axis parameters, even if JOG is executed with the origin established, the
result will be the same as if the origin were not established. The present position
becomes "0" when operation starts.
Operating data area
X Y Z U
axis axis axis axis
I+10 I+22 I+34 I+46
I+11 I+23 I+35 I+47
I+10 I+22
I+11 I+23
I+10
I+11
I+12 I+24 I+36 I+48
I+13 I+25 I+37 I+49
I+12 I+24
I+13 I+25
I+12
I+13
I+14 I+26 I+38 I+50
I+15 I+27 I+39 I+51
I+14 I+26
I+15 I+27
I+14
I+15
If speed is changed during a JOG operation the operation will be carried out
using the changed data. If the acceleration/deceleration time number is
changed, the changes will be effective with the next JOG command.
The following is an example of a timing chart for a JOG operation on the X axis
with a 4-axis PCU.
Speed
Acceleration
Initial speed
This section describes the teaching operation and the data needed for perform-
ing it.
The present position is taken as the designated position number (teaching
address). The position data is taken in when TEACH is turned ON.
Note Before executing TEACH, first establish the origin. If the origin is not first estab-
lished, a present position unknown error (error code 5040) will be generated.
Bit
00 to 15 15 Leftmost
(rightmost)
00 to 15
Setting range:
(leftmost)
1 to 7A120 Hex
(1 to 500,000 pps)
15 Leftmost
00 to 15
(rightmost)
00 to 15
Setting range:
(leftmost)
0 to 3D090 Hex
(0 to 250,000 ms)
00 to 15
(rightmost)
00 to 15
(leftmost)
Target speed
Section
Details
00 15 Rightmost 00
00 15 Rightmost 00
Deceleration
9-2