Program System; Axis Movement Operation - Omron CS1W-MCH71 Operation Manual

Basic Information
6-1-4

Program System

NSTOP
6-1-5

Axis Movement Operation

Acceleration/Deceleration
Pattern
248
This section explains the program of the MC Unit.
• Programs are composed of the motion task main programs and motion
task sub-programs.
Motion task main programs
(Program numbers 0-499)
Motion task sub-programs
(Program numbers 500-999)
• A program can contain up to 800 blocks.
Block
• A block contains a command, a semi-colon, and a comment (this may be
omitted).
Command
• An NSTOP command, and an ABL/INC command, can be added at the
beginning of a block.
ABL
Command
INC
• Setting acceleration/deceleration patterns with the following system
parameters makes it possible to select symmetrical/asymmetrical acceler-
ation/deceleration patterns.
• Acceleration/deceleration time cannot be changed during axis movement.
No. Name
P00M02 Interpolation feed
acceleration time
P00M03 Interpolation feed
deceleration time
P2AA05 Rapid feed accelera-
tion time
P2AA06 Rapid feed decelera-
tion time
2 ≤ N ≤ 800
;
Comment
;
Motion commands:
MOVEL/MOVEC/MOVETRAV
(Operand F sets the speed.)
Motion commands:
MOVE/MOVEI/DATUM/MOVET
(Factors other than Operand F (parameters,
etc.) set the speed)
Section 6-1
Comment
Usage