Switching Control Mode - Omron CJ1W-NC271 - 12-2009 Operation Manual

Speed Control
Status and Monitoring
during Speed Control
Servo Status Flags in Axis
Operating Input Memory
Area (Word b+1)
Word Bits Control
mode
b+1 07 Position
control
Speed con-
trol
08 Position
control
Speed con-
trol
Monitors 1 and 2 in Axis
Operating Input Memory
Areas

10-5-3 Switching Control Mode

396
When SPEED CONTROL is executed, some of the Status Flags, monitoring
functions, and display units change.
The functions of bits 07 and 08 in the Servo Status Flags of the Axis Operat-
ing Input Memory Area change depending on whether position control or
speed control is used.
Flag name
Positioning Com- Sending the position control com-
pleted (PSET) Flag mand to the Servo Drive com-
pleted and the position is within
Positioning Completion Range 1
(in position).
Speed Conformity Speed matches the speed com-
(V-CMP) Flag mand value for speed control.
Distribution Com- Sending the position control com-
pleted (DEN) Flag mand to the Servo Drive com-
pleted (operating for the number of
pulses remaining in the deviation
counter).
Zero Speed (ZSPD) Speed control with zero speed in
Flag progress.
When the speed (feedback speed, command speed, or target speed) is
selected for monitor 1 or 2, the monitoring unit for position control/torque con-
trol, and speed control will change, as follows:
Control mode
Position con-
trol/Torque control
Speed control
The PCU's operating commands can be used to switch between position con-
trol, speed control, and torque control of active axes, as follows:
Operating Control mode
command
ABSOLUTE Position control
MOVEMENT
RELATIVE Position control
MOVEMENT
ORIGIN Position control
SEARCH
ORIGIN Position control
RETURN
Function
Speed monitoring
unit
Command units/s The unit changes when the command
to switch to position control/torque con-
trol has been received (when the
Receiving Command Flag turns OFF).
0.001% The unit changes when SPEED CON-
(percentage of Ser- TROL has been received (when the
vomotor's momen- Receiving Command Flag turns OFF).
tary maximum
rotation speed)
Operation when operating command is
Switches to position control from any control
mode when the command starts and executes
positioning with an absolute position.
Switches to position control from any control
mode when the command starts and executes
positioning with a relative position.
A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.
A multistart error occurs when the command
starts from any control mode, and deceleration
stop is executed in position control mode.
Section 10-5
Function change timing
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
The function changes when
the command to switch to
position control has been
received (when the Receiving
Command Flag turns OFF).
The function changes when
SPEED CONTROL has been
received (when the Receiving
Command Flag turns OFF).
Unit change timing
executed