Omron CS1W-MCH71 Operation Manual page 336

Command Overview
Classifica- Name
tion
Axis move- Positioning
ment
Linear interpolation
Circular interpolation Center position specification:
Origin search
Interrupt feeding
Time-specified posi-
tioning
Traverse
Electronic cam, sin-
gle axis
Axis opera- Link operation
tion
Electronic cam, syn-
chronous
Electronic shaft
Trailing synchroniza-
tion
Travel distance
superimpose
Speed control
Torque control
Axis opera- Synchronization can-
tion cancel cel
Travel distance
superimpose cancel
Speed control cancel SPEEDR_[<axis name>]---8--- T<speed change rate>;
Torque control can-
cel
MOVE_[<axis name>]<position command value>---8---
MOVEL_[<axis name>]<position command value>---8---{F<Interpolation feed rate>};
MOVEC_Q<rotation direction> [<horizontal axis name>]<horizontal axis position
command value>[<vertical axis name>]<vertical axis position command value>
I<horizontal axis center command> J<vertical axis center command>
{[<linear axis name>]<linear axis command value>}{L<number of turns>
}{F<interpolation feed rate>};
Radius specification:
MOVEC_Q<rotation direction>[<horizontal axis name>]<horizontal axis position
command value>[<vertical axis name>]<vertical axis position command value>
R<radius>
{[linear axis name>]<linear axis command value>}{F<interpolation feed rate>};
DATUM_[<axis name>]<offset value>---8---;
MOVEI_[<axis name>]<position command value> D<fixed feed amount>V<speed
after signal input>;
MOVET_[<axis name>]<position command value>---8---T<positioning time>;
MOVETRAV_Q<operating mode>[<winding axis name>]<winding axis rotations>
[<traverse axis name>]<traverse axis winding width> L<number of layers>
{[<rotations at starting edge>]}{J<rotations at ending edge>}{F<winding axis
speed>};
CAM_[<axis name>]<Cam table number>K<displacement data multiplier>T<execu-
tion time>
{S<starting data number>}{E<ending data number>};
MOVELINK_[<slave axis name>]<slave axis travel distance>[<master axis name>]
<master axis travel distance>A<master axis travel distance in acceleration>
D<master axis travel distance in deceleration>{Q<link option>{I<link start position>}
{B<master axis classification>};
CAMBOX_[<slave axis name>]<Cam table number>[<master axis name>]<link dis-
tance>
K<displacement data multiplier>{S<starting data number>}{E<ending data number>}
{Q<link option>}{[I<link start position>]{B<master axis classification>};
CONNECT_[<slave axis name>]<gear ratio numerator>---8---[<master axis name>]
<gear ratio denominator> {B<master axis classification>};
SYNC_[<slave axis name>]<catch-up position offset>[<master axis name>]
<marker sensor ON position>{B<master axis classification>};
ADDAX_[<slave axis name>][<master axis name>] {B<master axis classification>};
SPEED_[<axis name>]<speed command value>---8---T <speed change rate>;
TORQUE_[<axis name>]<torque command value>---8---T <torque change rate>;
SYNCR_[<slave axis name>]{<travel distance for deceleration stop>}---8---;
ADDAXR_{[<slave axis name>]---8---};
TORQUER_[<axis name>]---8--- T<torque change rate>;
Format
Section 6-2
291