Defining Origin Position; Origin Searches - Omron CP1E CPU UNIT SOFTWARE User Manual

12 Pulse Outputs

12-4 Defining Origin Position

The CP1E CPU Units have two methods that can be used to define the origin position.
• Origin Search
The ORG instruction outputs pulses to turn the motor according to the pattern specified in the origin
search parameters. As the motor turns, the origin search function defines the origin from the following
three kinds of position input signals.
• Origin input signal
• Origin proximity input signal
• CW limit input signal and CCW limit input signal
• Changing the Pulse Output PV
When setting the current position as the origin, execute INI to reset the pulse output PV to 0.

12-4-1 Origin Searches

When the ORG instruction executes an origin search, it outputs pulses to actually move the motor and
defines the origin position using the input signals that indicate the origin proximity and origin positions.
The input signals that indicate the origin position can be received from the servomotor's built-in phase-Z
signal or external sensors such as photoelectric sensors, proximity sensors, or limit switches.
In the following example, the motor is started at a specified speed, accelerated to the origin search high
speed, and run at that speed until the origin proximity position is detected. After the Origin Proximity
Input is detected, the motor is decelerated to the origin search low speed and run at that speed until the
origin position is detected. The motor is stopped at the origin position.
Origin Proximity
Input Signal
Origin Input
Signal
Pulse frequency
Origin search
initial speed
Execution of ORG
Additional Information
The motor can be moved even if the origin position has not been defined, but positioning opera-
tions will be limited as follows:
• Origin return: Cannot be used.
• Positioning with absolute pulse specification: Cannot be used.
• Positioning with relative pulse specification: Outputs the specified number of pulses after set-
ting the present position to 0.
12-18
1
0
1
0
Origin search high speed
Origin search
acceleration rate
Deceleration point
Decelerate from high to low speed
Start
Origin search deceleration rate
Origin search proximity speed
Stop
Indicated by the Origin Indicated by the
Proximity Input Signal Origin Input Signal
(Example for reversal mode 1
and method 0 (described later))
CP1E CPU Unit Software User's Manual(W480)
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