Position With Product Detection - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

Examples and tips
• The Following Error is proportional to the speed if you use only
Proportional Gain in the position loop.
• The torque, which is given by DRIVE_MONITOR as a
percentage of the nominal torque of the motor when you set
DRIVE_CONTROL=11) is proportional to the acceleration
according to the formula:
α
Torque = J × + Torque
total total
is usually small, α is the angular
where Torque
friction
acceleration, and J the inertia of the system.
6.2.4

Position with product detection

A ballscrew moves forward at a creep speed until it reaches a
product, a microswitch (IN(2)) turns on.
The ballscrew is stopped immediately, the position at which the
product is sensed is indicated and the ballscrew returns at a rapid
speed back to the start position.
PROGRAMMING MANUAL
friction
fig. 51
A B C
287