Omron CS1W-MCH71 Operation Manual page 298

Basic Information
Command
MOVE POSITIONING
MOVEL LINEAR INTERPOLATION
MOVEC CIRCULAR INTERPOLATION
DATUM ORIGIN SEARCH
MOVEI INTERRUPT FEEDING
MOVET TIME-SPECIFIED POSITIONING
MOVETRAV TRAVERSE
CAM ELECTRONIC CAM, SINGLE
AXIS
Restrictions and
Conditions for Pass Mode
1,2,3...
The following table shows the relations between each command and operat-
ing modes.
Function Stop Mode Pass Mode
❍
@
@
❍
❍
❍
@
❍
❍: Executed according to the selected mode.
× : Always executed in Stop Mode.
@: The No. 2 in-position range is used.
Explanation of Pass Mode with fixed acceleration:
• The Pass Mode operation is usually performed based on acceleration or
deceleration time, however, the Pass Mode with fixed acceleration can be
used when the parameter [P00M06: Pass Mode select] is set to 2 or 3,
and the MOVEL command is executed with only one axis specified.
Parameter
No.
P00M06
• Interpolation override in Pass Mode with fixed acceleration will be dis-
abled during deceleration due to shortage of remaining travel distance.
(The very last value will be held.)
• Under the following conditions in Pass Mode with fixed acceleration, the
passing operation cannot be performed. The operation is stopped with
deceleration once (does not wait for No.2 in-position, so it is not a Stop
Mode operation), and proceeds to the next operation.
Distance required for deceleration stop from current speed > Travel dis-
tance of the next block
The following setting and programming conditions must be met to enable con-
tinuous axis operation without stopping in pass mode.
1. The number of parallel branches (P00002) divided by the number of paral-
lel branches in the program must be 2 or higher.
Ex) If P00002 is set to 4 and there are no parallel branches used in the pro-
gram (i.e., if the number of branches in the program is 1), 4 divided by
1 equal 4, so this condition would be met.
2. Interpolation commands (MOVE, MOVEC, and MOVETRAV) must be used
continuously.
×
❍
❍
×
×
×
❍ or @
Stop Mode for linked traverse
×
Acceleration/deceleration time is not
known, so this command cannot be exe-
cuted in Pass Mode.
Name
Pass Mode 0: Based on interpolation acceleration time + Pass
Select Mode with fixed acceleration disabled
1: Based on interpolation deceleration time + Pass
Mode with fixed acceleration disabled
2: Based on interpolation acceleration time + Pass
Mode with fixed acceleration enabled
3: Based on interpolation deceleration time + Pass
Mode with fixed acceleration enabled
Section 6-1
Remark
Value
253