Omron CS1W-MCH71 Operation Manual page 384

Command Details
Note
Description
Speed status
In acceleration
At constant speed
In deceleration
(Due to insufficient
remaining travel distance)
(1) Word data is extended to long word data with a sign in the MC Unit.
(2) The actual value is determined by the setting value of the parameter
[P5AA02: Position command decimal point position].
(3) There is no influence. ABL specification is always used.
• The target position of the axis being operated with MOVE command or
MOVEL command of 1 axis specification in Stop Mode is changed to
Changed target position.
• MOVEMODI command is ignored during execution of commands other
than the above or when it is executed for the axis not operating.
• Changed target position is treated as the absolute position on the coordi-
nate system currently being selected.
• If Changed target position has already been passed, return operation is
performed.
• The relations between the remaining travel distance and acceleration/
deceleration on the axis of MOVEMODI object are as shown in the table
below:
When remaining travel
distance is increased
Keeps accelerating
Stays at constant speed
Stops decelerating and
accelerates again
• MOVEMODI command execution is completed when the target position is
changed internally and completed successfully. There is no influence of
the operation status of the axis whose target position has been changed.
Remaining travel distance
When remaining travel distance is decreased
If there is still sufficient travel distance left, acceleration is main-
tained. If there is not sufficient travel distance, deceleration stop is
executed and return operation is performed.
If there is still sufficient travel distance left, constant speed is main-
tained. If there is not sufficient travel distance, deceleration stop is
executed and return operation is performed.
Deceleration stop is executed and return operation is performed.
Section 6-3
339