Omron CJ1W-MA - REV 10-2008 Operation Manual page 478

Application Examples
W202.00
000032
(000211)
Execute Axis 1
Speed Control
Command
W203.00
000033
(000214)
Execute Axis 1
Torque Control
Command
W203.02
Controlling Axis 1 Torque
W203.00
000034
(000217)
Execute Axis 1
Torque Control
Command
W202.00
000035
(000222)
Execute Axis 1
Speed Control
Command
W203.00
Execute Axis 1
Torque Control
Command
Acceleration and Deceleration Constant Setting
000036
(000226)
W501.00 W501.05
Start Axis 1 Axis 1 Acceleration
Acceleration
Constant Transfer End
Constant Setting
W501.01
Execute Axis 1 Acceleration
Constant Transfer
W501.02 W501.06
000037
(000230)
Start Axis 1
Axis 1 Deceleration
Deceleration
Constant Transfer End
Constant Setting
W501.03
Execute Axis 1 Deceleration
Constant Transfer
(Continued on next page.)
Section 11-3
[OP1]
MOVL
[OP2]
(498)
&0
D1508
[OP1]
MOVL
[OP2]
(498)
&0
D1510
[OP1]
MOVL
Axis 1 Torque Command Value
(498)
[OP2]
D1004
Axis 1 Torque Command Value
8
[OP1]
*L
[OP2]
(421)
Axis 1 Torque Command Value
&1200
[OP3]
D1002
D1500
[OP1]
/L
[OP2]
(431)
[OP3]
D1500
&2048
D1504
[OP1]
MOVL
[OP2]
(498)
D1504
D1508
[OP1]
MOVL
[OP2]
(498)
&0
D1510
[OP1]
MOVL
[OP2]
(498)
Axis 1 Option Command
D1508
Value 1
10
[OP1]
MOVL
[OP2]
(498)
Axis 1 Option Command
D1510
Value 2
12
Execute Axis 1
W501.01
Acceleration Constant
Transfer
Execute Axis 1
W501.03
Deceleration Constant
Transfer
451