Positioning - Omron CJ1W-NC271 - 12-2009 Operation Manual

This section provides an overview of direct operation and describes the parameter settings, data settings, and procedures
required to perform direct operation. Information on interrupt feeding and torque limits is also provided here.
9-1 Direct Operation Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-2 Direct Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-3 PCU Data Settings for Direct Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4 Using Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4-1 Starting Direct Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4-2 Direct Operation Timing Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4-3 Changing Target Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-4-4 Changing Target Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-5 Interrupt Feeding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-5-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-5-2 Interrupt Feeding Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-5-3 Data Settings for Using Interrupt Feeding . . . . . . . . . . . . . . . . . . . .
9-5-4 Timing Chart for Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . .
9-5-5 Present Position during Interrupt Feeding . . . . . . . . . . . . . . . . . . . .
9-6 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-7 Linear Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-7-1 Overview of Linear Interpolation Function . . . . . . . . . . . . . . . . . . .
9-7-2 Linear Interpolation Operation Procedure . . . . . . . . . . . . . . . . . . . .
9-7-3 Setting Data for Linear Interpolation Operation. . . . . . . . . . . . . . . .
9-7-4 Linear Interpolation Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 9

Positioning

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