Starting Jogging - Omron CJ1W-NC271 - 12-2009 Operation Manual

Jogging

10-2-4 Starting Jogging

Timing Chart
Speed command value
(words a+4, a+5)
JOG (word a, bit 09)
Direction designation
(word a, bit 10)
Speed
1500
1000
Receiving Command
Flag (word b, bit 00)
PCU Positioning Completed
Flag (word b, bit 05)
Busy Flag (word b, bit 13)
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
Jogging is performed according to the direction designation and speed com-
mand value set in the Axis Operating Output Memory Areas and started when
the Jog Bit turns ON. Execute JOG when the Busy Flag for the corresponding
axis is OFF. If the jogging operation is started while the axis's Busy Flag is
ON, a Multistart Error (axis error code: 3050) will occur and JOG will not be
executed.
If the SERVO UNLOCK, DEVIATION COUNTER RESET, EMERGENCY
STOP, OR DECELERATION STOP command bit is turned ON, the jog com-
mand will be ignored. Be sure that all of these command bits are OFF before
attempting a jog operation.
The jogging operation will continue while the Jog Bit is ON. To enable the
PCU to receive the JOG command correctly, make sure that the Jog Bit
remains ON while the Receiving Command Flag is ON.
The direction designation setting when the jogging operation starts (Jog Bit
turns ON) is enabled. Even if the designation is changed during jogging, the
direction will not change. Jogging decelerates to a stop when the Jog Bit turns
OFF.
The Busy Flag remains ON during the jogging operation. The PCU Position-
ing Completed Flag does not turn ON when jogging stops.
The following timing chart is for when JOG is executed in the forward rotation
direction.
3E8 hex (1000)
Direction designation Target speed
changed changed
The target speed can be changed at any
5DC hex (1500)
time by overwriting the speed command
value.
The direction designation setting at the start
of the jogging operation is enabled. Even if
the designation is changed during jogging,
the direction of operation will not change.
Solid line: Command speed
Broken line: Feedback speed
Time
The Receiving Command Flag turns ON
for at least one cycle time when the
command to start jogging is received.
The PCU Positioning Completed Flag
turns OFF when jogging starts. The PCU
Positioning Completed Flag does not turn
ON when the jogging operation stops.
Jogging stopped
The Busy Flag remains ON during the
(JOG Bit OFF)
jogging operation.
When jogging stops, the Busy Flag turns
OFF when sending the command is
completed, regardless of the number of
pulses remaining in the Servo Drive.
Section 10-2
375