歐姆龍原點搜索命名.docx

ORG(889)PurposeORG(889) performs an origin search or origin return operation.Origin SearchPulses are output using the specified method to actually drive the motor and establish the origin based on origin proximity input and origin input signals.Origin ReturnThe positioning system is returned to the pre-established origin.Ladder SymbolVariationsVariationsExecuted Each Cycle for ON ConditionORG(889)Executed Once for Upward DifferentiationORG(889)Executed Once for Downward DifferentiationNot supportedImmediate Refreshing SpecificationNot supportedApplicable Program AreasBlock program areasStep program areasSubroutinesInterrupt tasksOKOKOKOKOperandsP: Port SpecifierThe port specifier specifies the port where the pulses will be output.PPort0000 hexPulse output 00001 hexPulse output 10002 hexPulse output 2 (CP1H only)0003 hexPulse output 3 (CP1H only)0020 hexInverter positioning 0 (CP1L only)0021 hexInverter positioning 1 (CP1L only)C: Control DataThe value of C determines the origin search method.Operand SpecificationsAreaPCCIO Area-Work Area-Holding Bit Area-Auxiliary Bit Area-Timer Area-Counter Area-DM Area-Indirect DM addresses in binary-Indirect DM addresses in BCD-ConstantsSee description of operand.See description of operand.Data Registers-Index Registers-Indirect addressing using Index Registers-DescriptionORG(889) performs an origin search or origin return operation for the port specified in P using the method specified in C. The following parameters must be set in the PLC Setup before ORG(889) can be executed. Refer to the CP1H Operation Manual for details. Origin searchOrigin returnSearch Function Enable/DisableOrigin Search Operating ModeOrigin Search Operation SettingOrigin Detection MethodOrigin Search Direction SettingOrigin Search/Return Initial SpeedOrigin Search High SpeedOrigin Search Proximity SpeedOrigin CompensationOrigin Search Acceleration RateOrigin Search Deceleration RateLimit Input Signal TypeOrigin Proximity Input Signal TypeOrigin Input Signal TypeOrigin Search/Return Initial SpeedOrigin Return Target SpeedOrigin Return Acceleration RateOrigin Return Deceleration RateAn origin search or origin return is started each time ORG(889) is executed. It is thus normally sufficient to use the differentiated version (ORG(889) of the instruction or an execution condition that is turned ON only for one scan.Origin Search (Bits 12 to 15 of C = 0 hex)ORG(889) starts outputting pulses using the specified method at the Origin Search Initial Speed (1 in diagram). Pulse output is accelerated to the Origin Search High Speed using the Origin Search Acceleration Rate (2 in diagram). Pulse output is then continued at constant speed until the Origin Proximity Input Signal turns ON (3 in diagram), from which point pulse output is decelerated to the Origin Search Proximity Speed using the Origin Search Deceleration Rate (4 in diagram). Pulses are then output at constant speed until the Origin Input Signal turns ON (5 in diagram). Pulse output is stopped when the Origin Input Signal turns ON (6 in diagram).When the origin search operation has been completed, the Error Counter Reset Output will be turned ON. The above operation, however, depends on the operating mode, origin detection method, and other parameters. Refer to the CP1H Operation Manual for details.Origin Return (Bits 12 to 15 of C = 1 hex)ORG(889) starts outputting pulses using the specified method at the Origin Return Initial Speed (1 in diagram). Pulse output is accelerated to the Origin Return Target Speed using the Origin Return Acceleration Rate (2 in diagram) and pulse output is continued at constant speed (3 in diagram). The deceleration point is calculated from the number of pulses remaining to the origin and the deceleration rate and when that point is reached, the pulse output is decelerated (4 in diagram) at the Origin Return Deceleration Rate until the Origin Return Start Speed is reached, at which point pulse output is stopped at the origin (5 in diagram).FlagsNameLabelOperationError FlagERON if the specified range for P or C is exceeded.ON if ORG(889) is specified for a port during pulse output for SPED(885), ACC(888), or PLS2(887).ON if ORG(889) is executed in an interrupt task when an instruction controlling pulse output is being executed in a cyclic task. ON if the origin search or origin return parameters set in the PLC Setup are not within range.ON if the Origin Search High Speed is less than or equal to the Origin Search Proximity Speed or the Origin Search Proximity Speed is less than or equal to the Origin Search Initial Speed.ON if the Origin Return Target speed is less than or equal to the Origin Return Initial Speed.ON if an origin return operation is attempted when the origin has not been established.ExampleWhen CIO0.00 turns ON in the following programming example, ORG(889) starts an origin return operation for pulse output 0 by outputting pulses using the CW/CCW method. According to the PLC Setup, the initial speed is 100pps, the target speed is 200 pps, and the acceleration and deceleration rates are 50 Hz/4 ms.The PLC Setup parameters are as follows: ParameterSettingPulse Output