Omron CJ1W-MA - REV 10-2008 Operation Manual page 34

List of Functions and Specifications
Item
Control com- Position command range
mand range
Speed command range for position
control
Acceleration/deceleration speeds
for position control
Speed command range for speed
control
Torque command range for torque
control
Control func- Servo lock/unlock
tions
Position control
Origin determination
Jogging
Interrupt feeding
Speed control
Torque control
Stop functions
Auxiliary func- Acceleration/deceleration curves
tions
Torque limit
Override
Servo parameter transfer
Monitoring function
Software limits
Backlash compensation
Deviation counter reset
External I/O Position Control Unit
Servo Drive I/O
−2,147,483,648 to 2,147,483,647 (command units)
0 to 2,147,483,647 (command units/s)
1 to 65,535 (10,000 command units/s
−199.999% to 199.999%
The upper limit of the speed command range depends on the
specifications of the Servo Drive.
−199.999% to 199.999%
The upper limit of the torque command range depends on the
specifications of the Servo Drive.
Creates (Servo lock) or releases (Servo unlock) the position loop
on the PCU.
Positions to an absolute position or relative position according to
the target position and target speed specified from the ladder pro-
gram.
• Origin search: Establishes the origin using the specified search
method.
• Present position preset: Changes the present position to a speci-
fied position to establish the origin.
• Origin return: Returns the axis from any position to the estab-
lished origin.
• Absolute encoder origin: Establishes the origin using a Servomo-
tor that has an absolute encoder, without having to use an origin
search.
Outputs pulses at a fixed speed in the forward rotation or reverse
rotation direction.
Performs positioning by moving the axis a fixed amount when an
external interrupt input is received while the axis is moving.
Performs speed control by sending a command to the Servo Drive
speed loop.
Performs torque control by sending a command to the Servo Drive
current loop.
• Deceleration stop: Decelerates the moving axis to a stop.
• Emergency stop: Positions the moving axis for the number of
pulses remaining in the deviation counter and then stops the axis.
Sets one of the following: a trapezoidal (linear) curve, an exponen-
tial curve, or an S-curve (moving average).
Restricts the output torque during axis operation.
Multiplies the axis command speed by a specified ratio.
Override: 0.01% to 327.67%
Reads and writes the Servo Drive parameters from the ladder pro-
gram in the CPU Unit.
Monitors the control status of the Servo Drive, such as the com-
mand coordinate positions, feedback position, current speed, and
torque.
Limits software operation within the positioning range during posi-
tion control.
Compensates for the amount of play in the mechanical system
according to a set value.
The position deviation in the Servo Drive's deviation counter can
be reset to 0 (unit version 1.3 or later).
One MECHATROLINK-II interface port
Forward/reverse rotation limit inputs, origin proximity inputs, exter-
nal interrupt inputs 1 to 3 (can be used as external origin inputs)
Section 1-4
Specification
2
)
7