Omron CS1W-MCH71 Operation Manual page 137

System Parameters
Axis-Origin Parameters
Note
No. Address in MC
Unit
P4AA01 5AC0h +
(AA * 14h)
Data configuration
31
Origin search method
92
Ex) Torque Control
The following example is for a motor rated speed of 3,000 r/min and a
position control switching speed of 1000 (in increments of 0.01%, i.e.,
10%).
TORQUE [J01] 100 T100;
:
TORQUER [J01] T100; ←
MOVE [J01] 10000;
:
Abbreviation in the No. column:
Abbreviation in the address column: AA = 0 to 31 (axis number − 1)
Name
Origin search method
Setting range
00000000 to 00000003 Hex
00
(0 to 3)
Explanation
Sets the origin search method.
Setting
0 Origin at power ON
The motor position at powering ON is automatically defined as the
origin.
If an origin search is performed in this mode, the starting position of
the origin search is defined as an origin.
1 Limit reversal
Input of the limit input signal during an origin search reverses the
operation.
After starting an origin search in the origin search start direction at
the origin search feed rate, the speed is changed to the origin search
approach speed at the rise of the origin proximity input signal (Nor-
mally Open contact). At the rise of the origin determine signal after
the fall of the origin proximity input signal, the speed changes to the
origin search creep speed to travel for the final interval and finally an
origin is established.
Outputs from a torque of 100% to a
torque of 0%.
Switches to position control mode when
the motor speed reaches 300 r/min or
lower (i.e., 3,000 r/min × 10%). After
returning to position mode, the system
waits for the positioning complete flag to
turn ON. When the positioning com-
pleted flag turns ON, the next command
(MOVE) is executed.
AA = 1 to 32 (axis number)
Type Unit
Data ---
Explanation
Section 4-2
Immediate
updating
No
Initial value
00000001 (1)