Stop Functions; Overview; Deceleration Stop - Omron CJ1W-MA - REV 10-2008 Operation Manual

Stop Functions

Movement command
PRESENT POSITION
PRESET
SERVO LOCK
10-9 Stop Functions

10-9-1 Overview

10-9-2 Deceleration Stop

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Opposite direction of software limit
If PRESENT POSITION PRESET is executed for a position beyond the software limit in the
present travel direction, the present position will change and a Software Limit Error will not be
detected. If PRESENT POSITION PRESET is executed for a position beyond the software
limit in the direction opposite to the travel direction, the present position will change and a Soft-
ware Limit Error will occur for the software limit in the opposite direction.
SERVO LOCK can be executed regardless of software limit detection status when using an
Incremental Encoder or when using an Absolute Encoder as an Incremental Encoder. When
using an Absolute Encoder, operation depends on the unit version of the PCU as follows:
PCUs with Unit Version 1.2 or Earlier
A software limit error will be detected when SERVO LOCK is executed and the SERVO
LOCK operation will be cancelled. Disable the software limit to enable executing SERVO
LOCK.
PCUs with Unit Version 1.3 or Later
SERVO LOCK can be executed regardless of software limit detection status in the same
way as when using an Incremental Encoder.
The stop function is used to stop active axes operated by position control,
speed control, or torque control. Axis operation can be stopped using the
deceleration stop method, which stops the axis using a specified deceleration,
or the emergency stop method, which cancels the operating command imme-
diately and stops operation after moving for the remaining pulses in the Servo
Drive's deviation counter. Axis operations are also stopped by the PCU if an
error occurs.
For details on PCU operations when errors occur, refer to SECTION 12 Trou-
bleshooting.
Deceleration stop stops the active axis using the deceleration set in the Servo
Parameters when the DECELERATION STOP Bit turns ON in the Axis Oper-
ating Output Memory Area. The deceleration stop operation is executed using
position control with the specified deceleration curve.
When DECLARATION STOP is executed during speed control or torque con-
trol, the feedback speed at that point is used as the start speed, the control
mode switches to position control, and operation decelerates to a stop.
Speed
Movement command
DECELERATION STOP can be executed for an axis that is servo-locked as
long as SERVO UNLOCK, DEVIATION COUNTER RESET, or EMERGENCY
STOP is not being executed and the command bits for these commands are
not ON and as long as an axis error has not occurred.
Regardless of the previous control mode,
DECELERATION STOP is executed after
switching to position control.
Operation decelerate to a stop according
to the deceleration set in the Servo
Parameters for acceleration/deceleration.
The Servomotor is set to Servo lock status
after operation stops.
Time
DECELERATION
STOP executed
Section 10-9
Direction of software
limit