Omron CS1W-MCH71 Operation Manual page 305

Basic Information
Value of P00M06
3 Interpolation deceleration
time + Pass mode with fixed
acceleration enabled
260
Operating P00004.13 = 0
mode
Acceleration
time
Pass Mode Value set for
P00M02
Stop Mode Value set for
P00M02
Timing of Bank Switching
In principle, bank switching is enabled when the block after bank switching is
executed.
Operating mode
Not in pass operation during pass mode
or stop mode
Acceleration and deceleration time is
specified in pass operation
Fixed acceleration in pass operation
Overview of Bank Switching
Acceleration/deceleration time bank switching is specified in the motion pro-
gram and not the ladder program.
When system parameter P00004 bit 13 is set to 1 (selects banks for accelera-
tion/deceleration times separately), four patterns of operation images (one for
each setting of P00M06) are possible.
Stop Mode (P00106 = 0: Acceleration Time Specification)
Enabled when the block after parameter change is executed.
Program Example:
Set P00M11 to P00M15 and P00M16 to P00M20 beforehand.
Execution with PROG P0001 Q0001; motion task 1 (P00106 = 0: acceler-
ation time specification)
STOPMODE;
#IW0A00=0;
#IW0A08=0;
DATUM [J01]0 [J02]0;
ABL MOVEL [J01]100000 F1000000;
WAIT #SL0204 > 20000;
#IW0A00=1;
#IW0A08=1;
ABL MOVEL [J01]0 F1000000;
WAIT #SL0204 < 80000;
#IW0A00=2;
#IW0A08=2;
ABL MOVEL [J01]100000 F1000000;
END;
Deceleration Acceleration time Deceleration time
time
Bank selection Acceleration time
bank selection
Bank selection Acceleration time
bank selection
Enabled when the block after switching is
executed.
Enabled when the block executed after
switching begins to decelerate.
Enabled when the block after switching is
executed.
Acceleration bank 0 specification
Deceleration bank 0 specification
Command position exceeds 20000
Acceleration bank 1 specification
Deceleration bank 1 specification
Command position exceeds 80000
Acceleration bank 2 specification
Deceleration bank 2 specification
Section 6-1
P00004.13 = 1
Deceleration time
bank selection
Deceleration time
bank selection
Valid timing