Omron CS1W-MCH71 Operation Manual page 307

Basic Information
262
Execution with PROG P0002 Q0001; motion task 1.
PASSMODE;
#IW0A00=1;
#IW0A08=1;
DATUM [J01]0;
ABL MOVEL [J01]100000 F600000;
WAIT #SL0204 > 20000;
#IW0A08=2;
ABL MOVEL [J01]200000 F1000000;
WAIT #SL0204 > 170000;
#IW0A08=3;
ABL MOVEL [J01]300000 F600000;
ABL MOVEL [J01]400000 F1000000;
END;
Speed
0 Td1
Ta1
Interpolation
acceleration time
bank 1 -> bank 2
Interpolation acceleration time + Fixed acceleration pass mode enabled
(P00106 = 2)
Interpolation deceleration time + Fixed acceleration pass mode enabled
(P00106 = 3)
Enabled when block after parameter change is executed.
Program Example:
Set P00M11 to P00M15/P00M16 to P00M20 beforehand.
Execution with PROG P0002, Q0001; motion task 1
PMD;
#IW0A00=1;
#IW0A08=1;
ZRN [JO1]0;
ABS MVS [J01]100000 F600000;
IOW #SL0204 > 20000;
#IW0A00=2;
ABS MVS [J01]200000 F1000000;
IOW #SL0204 > 17000;
#IW0A00=3;
ABS MVS [J01]300000 F1500000;
ABS MVS [J01]400000 F1000000;
Acceleration bank 1 specification
Deceleration bank 1 specification
Command position exceeds 20000
Deceleration bank 2 specification
Command position exceeds 170000
Deceleration bank 3 specification
Td2
Enabled when
next block begins
Interpolation
to decelerate
acceleration time
bank 2 -> bank 3
Acceleration bank 1 specification
Deceleration bank 1 specification
Command position exceeds 20000
Acceleration bank 2 specification
Command position exceeds 170000
Acceleration bank 3 specification
Section 6-1
Td3 Td3
Time