Omron CS1W-MCH71 Operation Manual page 602

Debugging the Program
Commands by program
Axis Control Bit:
Axis Machine Lock
Axis Status Bit:
Axis Machine Lock
Status
Axis Status Bit:
Axis Operating
Control Mode
Effect
Operation during Parallel
Execution
Servo ON/OFF
Breakpoints
Position Speed/Torque
command command
Wait
1
0
1
0
1
0
Position Control Speed/Torque Control
• Machine Lock is a function independent for each axis, so there is no effect
of other axes.
When Machine Lock is executed on some of the axes (not on all the axes)
during an operation involving several axes, the mechanical system may
operate in an unexpected way.
• In Machine Lock state, the origin search operation with DATUM com-
mand, Axis Control Bit: Origin Search will be the same as the operation of
Axis Control Bit: Forced Origin. (This is to prevent the axis from moving
endlessly. It is caused by the fact that the axis does not move at all in
Machine Lock state and no external signal will be input.)
Regardless of parallel branching, Machine Lock status (set or reset) will be
changed only in relation to the axis status.
Even in Machine Lock state, Servo ON of the concerned axis is required to
move the axis.
A breakpoint function is provided for MC Units with unit version 3.0 or later.
■ Function
• When a motion program is executed, program execution will be stopped
after the commands in the specified block number have been executed.
• Breakpoints are set and cleared for block numbers using the Support Tool
(CX-Motion-MCH version 2.0).
• One breakpoint can be set for one motion task.
■ Operation
• For details on setting and clearing breakpoints, refer to the Support Tool
Operation Manual.
The status will be changed when
the bit [Axis Operating] = 0 in the
position control mode.
Position command
Position Control
Section 9-2
The output remains as the
position command in Axis
Machine Lock state.
Speed/Torque command
Wait
Position Control
557