Omron trajexia CJ1W-MCH72 Operation Manual page 347

Practical examples
5-2-5 Position with product detection
5-2-5-1 Example
336
• The Following Error is proportional to the speed if you use only
Proportional Gain in the position loop.
• The torque, which is given by DRIVE_MONITOR as a percentage of the
nominal torque of the motor when you set DRIVE_CONTROL=11) is
proportional to the acceleration according to the formula:
Torquetotal = Jtotal × a + Torquefriction
where Torque
friction
inertia of the system.
A ballscrew moves forward at a creep speed until it reaches a product, a
microswitch (IN(2)) turns on.
The ballscrew is stopped immediately, the position at which the product is
sensed is indicated and the ballscrew returns at a rapid speed back to the start
position.
IN(1)
IN(2)
speed
WAIT UNTIL IN(1)=ON
start:
WAIT UNTIL IN(1)=ON
is usually small, α is the angular acceleration, and J the
A B
CANCEL
WAIT IDLE
Forward
Moveabs
SPEED=10
FORWARD
WAIT UNTIL IN(2)=ON
PRINT "Product position"
SPEED=100
MOVEABS(0)
WAIT IDLE
Section 5-2
C
t
Start:
WAIT UNTIL IN(1)=ON