Omron CS1W-MCH71 Operation Manual page 332

Command Overview
Classifica- Command/func-
tion tion name
Axis move- POSITIONING
ment
LINEAR INTERPO-
LATION
CIRCULAR INTER-
POLATION
ORIGIN SEARCH
INTERRUPT FEED-
ING
TIME-SPECIFIED
POSITIONING
TRAVERSE
ELECTRONIC CAM,
SINGLE AXIS
Axis opera- LINK OPERATION
tion
ELECTRONIC CAM,
SYNCHRONOUS
ELECTRONIC
SHAFT
TRAILING SYN-
CHRONIZATION
TRAVEL DISTANCE
SUPERIMPOSE
SPEED CONTROL
TORQUE CON-
TROL
Axis opera- SYNCHRONIZING
tion cancel END
TRAVEL AMOUNT
SUPERIMPOSE
CANCEL
SPEED CONTROL
CANCEL
TORQUE CON-
TROL CANCEL
Commands that can be used in the motion program are listed below:
Code Applicable
task
Motion
MOVE @ S
MOVEL @ S
MOVEC @ S
DATUM @ S
MOVEI @ S
MOVET @ S
MOVETRAV @ S
CAM @ S
MOVELINK @ S
CAMBOX @ S
CONNECT @ S
SYNC @ S
ADDAX @ S
SPEED @ S
TORQUE @ S
SYNCR @ S
ADDAXR @ S
SPEEDR @ S
TORQUER @ S
Summary
Moves each axis independently.
Moves axes with linear interpola-
tion.
Moves axes with circular interpo-
lation.
Finds machine origin according
to input signals.
Changes target position by
means of input signals.
Performs positioning with speci-
fied time period.
Executes winding (traverse)
function of winder.
Executes cam operation accord-
ing to cam table.
Synchronizes the slave to the
master based on travel distance
of the master in acceleration and
deceleration.
Executes cam operation accord-
ing to cam table and master axis.
Synchronizes the slave to the
master in a fixed ratio to the
master axis.
Executes trailing + synchronizes
the slave to the master axis.
Superimposes travel distance
between axes.
Outputs speed commands.
Outputs torque commands.
Cancels MOVELINK, CAMBOX,
CONNECT, or SYNC.
Cancels travel distance superim-
pose.
Cancels speed control
Cancels torque control
Section 6-2
Completion condi-
tion (Proceed to
next block)
In-position
Travel distance out-
put completed.
Travel distance out-
put completed.
In-position
In-position
In-position
Travel distance out-
put completed.
In-position
Depends on the link
option.
Depends on the link
option.
Synchronization
established.
Synchronization
established.
Synchronization
established.
Specified speed
reached.
Specified torque
reached.
In-position
Synchronization can-
celled.
Switch to position
control mode com-
pleted
Switch to position
control mode com-
pleted
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