Origin Return Data Settings - Omron CJ1W-MA - REV 10-2008 Operation Manual

Origin Return
Note
8-4-1

Origin Return Data Settings

Servo Parameter Area
Model Parameter
No.
R88D-GN@- Pn205
ML2
Pn206
R88D-WT@ Pn202
Pn203
R88D-WN@- Pn20E
ML2
Pn210
SMART- Pn20E
STEP Junior
Pn210
Type Parame-
ter No.
Accel- Pn107 Linear acceleration constant
eration/
decel-
eration
Pn10A Linear deceleration constant
con-
stants
Accel- Pn10E Moving average time
eration/
decel-
eration
filters
Execute ORIGIN RETURN when the origin has been established. If ORIGIN
RETURN is executed when the origin has not been established, a Present
Position Unknown Error (axis error code: 3030) will occur.
A simple explanation of the main parameters and data used to execute ORI-
GIN RETURN is provided here. To execute ORIGIN RETURN, apart from the
parameters explained here, the following parameters also need to be set as
basic settings for operating the PCU.
For details on command units, refer to 7-2 Control Units. The setting units for
parameters and data depend on the specified command unit.
Command Unit Parameters
Parameter name
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
Electronic gear ratio G1 (numerator)
Electronic gear ratio G2 (denominator)
The command unit default setting is pulses.
G-series Acceleration/Deceleration Constants
Parameter name
10,000
command
units/s
10,000
command
units/s
0.1 ms
Unit
--- 1 to
1073741824
--- 1 to
1073741824
--- 1 to 65535
--- 1 to 65535
--- 1 to
1073741824
--- 1 to
1073741824
--- 1 to
1073741824
--- 1 to
1073741824
Unit Setting Parame-
range ter size
−32768
2
to 32767
2
−32768
2
to 32767
2
0 to 5100 2
Section 8-4
Setting Parameter
range size
4
4
2
2
4
4
4
4
Default
setting
100
100
0
Default
setting
1
1
4
1
4
1
1
1
299