Direct Operation Overview - Omron CJ1W-NC271 - 12-2009 Operation Manual

Direct Operation Overview

9-1 Direct Operation Overview
CPU Unit
Ladder program
(1)
MOV
MOV
WRITE SERVO PARAMETER
(2)
MOV
MOV
ABSOLUTE MOVEMENT/
RELATIVE MOVEMENT
Axis Operating Output Memory Areas
a
Position command value
a+2
(rightmost word)
Position command value
a+3
(leftmost word)
Speed command value
a+4
(rightmost word)
Speed command value
a+5
(leftmost word)
Axis Operating Input Memory Areas
Control status
b
Feedback present position
b+6
(rightmost word)
Feedback present position
b+7
(leftmost word)
Command present position
b+8
(rightmost word)
Command present position
b+9
(leftmost word)
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
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Direct operation of the PCU enables positioning by simply writing target posi-
tion data and target speed data directly from a ladder program to a specified
area in the CPU Unit.
Positioning operations using direct operation are executed according to the
position command value and speed command value in the Axis Operating
Memory Area set in Common Parameters and the acceleration/deceleration
constants set in the Servo Parameters.
The following is an example for a W-series Servo Drive.
(1) Transfer the Servo Parameters for acceleration/deceleration.
(2) Set the operating data in the Axis Operating Output Data Areas.
(3) Use the bits in the Axis Operating Output Memory Areas to start the positioning operation.
Execute WRITE SERVO
PARAMETER to
transfer before starting
positioning operations.
(3)
Output during I/O refresh
ABSOLUTE MOVEMENT
(word a, bit 03)
RELATIVE MOVEMENT
(word a, bit 03)
Output during I/O refresh
Input during I/O refresh
Input during I/O refresh
The position command value and speed command value set in the Axis Oper-
ating Output Memory Area using the MOV instruction are output to the PCU
automatically during I/O refresh. Direct operation is started when the ABSO-
LUTE MOVEMENT Bit or RELATIVE MOVEMENT Bit allocated in the Axis
Operating Output Memory Area turns ON.
PCU Servo Drive
Acceleration/
deceleration
parameters
Pn80A
Pn80B
Speed
Pn80C
:
Section 9-1
Time