Omron SYSMAC CS1G Operation Manual page 302

Command Details
Description
No. Name
P4AA01 Origin search
method
P4AA02 Origin search start
direction
P4AA03 Phase-Z (C) detec-
tion direction
P4AA04 Origin deceleration
method
P4AA06 Origin determine sig-
nal
P4AA07 Origin search feed
rate
P4AA08 Origin search
approach speed
P4AA09 Origin search creep
speed
P4AA10 Machine coordinate
origin offset
P4AA11 Final travel distance
in origin search
• DATUM command performs the origin search for the specified axis.
• Specifying the offset will set the origin of the machine coordinate system
after an origin search to other than zero. (Specify zero to set it to zero.)
• The operation patterns and speeds are determined by the parameters
shown in the table below:
Value
0: Origin at power ON
1: Limit reversal
2: 2-level speed in one direction
3: 3-level speed in one direction
0: Same as phase-Z detection
1: Opposite to phase-Z detection
0: Positive direction
1: Negative direction
0: Uses origin proximity
1: Uses CW and CCW
0: Phase-Z (C)
1: External input signal 1
2: External input signal 2
3: External input signal 3
1 to 2147483647
*It is limited by 32767 command
unit/unit scan.
1 to 2147483647
*It is limited by 32767 command
unit/unit scan.
1 to 2147483647
*It is limited by 32767 command
unit/unit scan.
−2147483648 to 2147483647
0 to 2147483647
Content
Sets the origin search method.
Sets the origin search start direction for origin
search method 1.
Sets the phase-Z (C) detection direction for ori-
gin search method 1,2, and 3.
Specifies whether the origin proximity or limit
input signal is used as origin proximity input sig-
nal for origin search method 1 and 3.
Sets the signal to determine (latch) the origin.
Specifies the speed for the 1st level of the 3-
level speed origin search.
Specifies the speed for the 2nd level of the 3-
level speed origin search, or for the 1st level of
the 2-level speed origin search.
Specifies the speed for the 3rd level of the 3-
level speed origin search, or for the 2nd level of
the 2-level speed origin search.
Axis control bit: Offset for origin search
Not used for DATUM command
Sets the final travel distance in origin search.
This is added to the travel distance in the travel-
ing direction.
Section 6-3
279