Omron SYSMAC CP Series Instruction & Reference Manual page 374

2 Instructions
When the origin search operation has been completed, the Error Counter Reset Output will be
turned ON.
The above operation, however, depends on the operating mode, origin detection method, and other
parameters.
Origin Return (Bits 12 to 15 of C = 1 hex)
ORG(889) starts outputting pulses using the
specified method at the Origin Return Initial
Speed (1 in diagram).
Pulse output is accelerated to the Origin Return
Target Speed using the Origin Return Accelera-
tion Rate (2 in diagram) and pulse output is con-
tinued at constant speed (3 in diagram).
The deceleration point is calculated from the
number of pulses remaining to the origin and the
deceleration rate and when that point is
reached, the pulse output is decelerated (4 in
diagram) at the Origin Return Deceleration Rate
until the Origin Return Start Speed is reached,
at which point pulse output is stopped at the ori-
gin (5 in diagram).
Sample program
When CIO 0.00 turns ON in the following programming example, ORG(889) starts an origin return oper-
ation for pulse output 0 by outputting pulses using the pulse + direction method. According to the PLC
Setup, the initial speed is 100 pps, the target speed is 200 pps, and the acceleration and deceleration
rates are 50 Hz/4 ms.
0.00
The PLC Setup parameters are as follows:
Pulse Output 0 Starting Speed for Origin Search and Origin Return
Pulse Output 0 Origin Return Target Speed
Pulse Output 0 Origin Return Acceleration Rate
Pulse Output 0 Origin Return Deceleration Rate
2-338
@ORG
Pulse output 0
#0000
Origin return, pulse + direction
#1100
output method
Parameter
Pulse frequency
Origin return
target speed
Origin return
acceleration
rate
Origin return
initial speed
ORG(889) executed.
Speed
200 pps
100 pps
ORG(889) executed.
0000 0064 hex: 100 pps
0000 00C8 hex: 200 pps
0032 hex: 50 hex/4 ms
0032 hex: 50 hex/4 ms
CP1E CPU Unit Instructions Reference Manual(W483)
Origin return
deceleration rate
Time
Stop
Time
Output stopped.
Setting