Omron CJ1W-NC271 - 12-2009 Operation Manual page 299

This section provides an overview of the control system used by the Position Control Unit, including information on the
control units, coordinate system, acceleration/deceleration operations, and limit input operations.
7-1 PCU Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1-1 Control System Configuration and Principles . . . . . . . . . . . . . . . . .
7-1-2 Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2 Control Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2-1 Control Units for Position Control . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2-2 Control Units for Speed/Torque Control . . . . . . . . . . . . . . . . . . . . .
7-2-3 Units of the PCU's Main Controlled Variables . . . . . . . . . . . . . . . . .
7-3 Coordinate System and Present Position . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-4 Acceleration and Deceleration Operations . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-4-1 Overview of Acceleration/Deceleration Operations. . . . . . . . . . . . .
7-4-2 Acceleration/Deceleration Settings . . . . . . . . . . . . . . . . . . . . . . . . .
7-4-3 Acceleration/Deceleration Filter Settings. . . . . . . . . . . . . . . . . . . . .
7-4-4 Origin Search Acceleration/Deceleration Operations . . . . . . . . . . .
7-4-5 Acceleration and Deceleration Operations during Speed Control . .
7-5 Limit Input Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position Control Structure
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SECTION 7
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