Timing Chart; Origin Return; Allocation Of Operating Memory Area And Setting Of Operating; Data Area - Omron CS1W-213 - REV 02-2008 Operation Manual

Origin Return

Operating Data Area
Name Model
axis
Position NC4@3 I+8
I+9
NC2@3 I+8
I+9
NC1@3 I+8
I+9
6-6-4

Timing Chart

Value to be
changed to
(I+8, I+9)
PRESENT POSITION
PRESET
(word n, bit 08)
Origin Stop Flag
(word n+8, bit 07)
No Origin Flag
(word n+8, bit 06)
Busy Flag
(word n+8, bit 13)
6-7 Origin Return
Note
6-7-1

Allocation of Operating Memory Area and Setting of Operating

Data Area

Operating Memory Area
Name Model
ORIGIN RETURN NC4@3
NC2@3
NC1@3
Origin Stop Flag NC4@3
NC2@3
Busy Flag
NC1@3
170
Operating data area
X Y Z U
axis axis axis
I+20 I+32 I+44
I+21 I+33 I+45
I+20
I+21
In the following timing chart, the X-axis present position for a 4-axis PCU is
changed to "0." When the present position is changed to "0" it becomes the
origin, so the Origin Stop Flag is turned ON. There will be no change in the
status of the Positioning Completed Flag.
1 scan min.
The origin return operation is used to return the axis to the origin from any
position. It is executed by the rising edge of the ORIGIN RETURN command.
Execute ORIGIN RETURN when the origin has been established. If the origin
has not been established, a present position unknown error (error code 5040)
will be generated.
Operating memory area
X axis Y axis Z axis
n n+2 n+4
n n+2
n
n+8 n+11 n+14
n+4 n+7
n+2
Bit
00 to 15
(rightmost)
00 to 15
15 Leftmost
(leftmost)
Setting range: C0000001 to 3FFFFFFF Hex
Bit
U axis
n+6 07
n+17 07 1: Stopping at origin; 0: Other
13 1: Busy
Section 6-7
Details
00 15 Rightmost
(–1,073,741,823 to 1,073,741,823)
Details
: Start of origin return
00