Omron SYSMAC C500-NC113 Operation Manual page 149

CW
Y axis
CCW
0
CCW
2. When creating the program.
When positioning with a continuous completion code, the speed cannot be
reversed until the positioning is completed. For example, when positioning
is executed as shown in the following diagram, position actions 1001 and
1003 on the X axis, and 5000 and 5002 on the Y axis, cannot be executed
because they are reversed. In this case, either use completion code 1 (auto-
matic) for positioning action 1000 and stop it upon completion, or else use
automatic for all the completion codes.
Positioning
action 1000
CW
2
(continuous)
CCW
CW
CW
X axis
CCW
3. Pulse discrepancies at transit points for continuous positioning (NC211
only).
As shown in the following diagram, pulse discrepancies may occur at transit
points when positioning is executed using a continuous completion code.
Pulse discrepancy
A
Vc
A'
θ
0
The number of pulses in the discrepancy will vary depending on the set values
for the program, but there will certainly be insufficient pulses. This pulse discrep-
ancy is caused by giving priority to the acceleration/deceleration pattern in inter-
polated positioning. There is no pulse discrepancy at the end point for continu-
ous positioning (point C in the above diagram), so positioning to the end point will
still be accurate. In order to obtain accurate positioning through transit points,
however, use 1 (automatic) for the completion code.
Positioning Positioning
action 1001 action 1002
2 2
(continuous) (continuous)
Positioning Positioning Positioning
action 5000 action 5001 action 5002
C
O to A: Interpolation speed Vc
Vn
A to B: Interpolation speed Vn
B
Section 9-2
Positioning
action 1003
3 (bank end)
Positioning
action 5003