Omron SYSMAC CS Series Instruction & Reference Manual page 728

3. Instructions
 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
Acceleration Rate (2 in diagram) and pulse
output is continued 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 at the
Origin Return Deceleration Rate (4 in diagram)
until the Origin Return Start Speed is reached, at
which point pulse output is stopped at the origin
(5 in diagram).
Hint
For the CJ2M, INI(880) can be executed to change some of the origin search/return parameters during
operation, such as the Starting Speed, Target Speed, or Acceleration/Deceleration Rate, by setting C
to 0005 hex.
Example Programming
When CIO 0.00 turns ON in the following programming example, ORG(889) starts an origin return
operation for pulse output 0 by outputting pulses using the CW/CCW 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 pps/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
694
@ORG
Pulse output 0
#0000
Origin return, CW/CWW method
#1000
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.
100 pps
200 pps
50 pps/4 ms
50 pps/4 ms
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Origin return
deceleration rate
Time
Stop
Time
Output stopped.
Setting