Omron CS1W-MCH71 Operation Manual page 314
Sysmac cs/cj-series
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Also See for CS1W-MCH71:
- Datasheet (8 pages) ,
- Manual (644 pages) ,
- Operation manual (646 pages)
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Basic Information
Command executed
Classification
simultaneously
Function/Name
Command currently
being Executed
Function/Name
Command
Target position
MOVEMODI
change
Parameter value
PARAM
change
Workpiece coor-
OFFPOS
dinate system
OFFSET change
Present value
Present value Latch
Latch
Changing Control Mode
Axis movement
Stepping
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
C
C
A
A
Can be executed.
B
The function executed later will be ignored.
C
Can be executed when no latch is requested. However, when latch is being
requested and the function is executed, the alarm [301Ah:Counter latch
resource violation] will occur and the program will be interrupted. Also, if the
function is executed when writing the latch range parameters, the alarm [2016h:
Same axis specification multiplicity] will occur, and the program will be inter-
rupted.
D
Alarm [2014h: Control mode error] will occur, and the program will be inter-
rupted.
E
Alarm [2016h: Same axis specification multiplicity] will occur, and the program
will be interrupted.
F
Alarm [2018h: Synchronous slave axis specification error] will occur, and the
program will be interrupted.
G
Only MOVEMODI during MOVEL:
Can be executed if a single axis is specified for each command. Otherwise, the
function executed later will be ignored.
H
Only latch cancel can be executed. Other cases will be as follows: When exe-
cuted in parallel, the alarm [2016: Same axis specification multiplicity] will occur
and the program will be interrupted.
When executed in series, the alarm [301A: Counter latch resource violation] will
occur and the program will be interrupted.
When executed continuously, the alarm [2016: Same axis specification multi-
plicity] will occur and the program will be interrupted.
I
Only SPEEDR/TORQUER for the master axis:
The function executed later will be ignored. Note that, however, if the master
axis is under speed or torque control, SPEEDR/TORQUER will be executed to
end the operation.
There are three different types of control mode for the MC Unit; [Position con-
trol mode], [Speed control mode], and [Torque control mode].
Axis operation
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
C
A
C
A
A
A
C
A
Meaning
Section 6-1
Axis
Setting
operation
cancel
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
A
H
269
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