Positioning Sequences - Omron CS1W-NC113 Manual

Positioning Sequences

8-3-3 Operating Memory Area
Item Model
NC413
START
INDEPENDENT NC213
START
NC113 NC113
Sequence Number
Enable
NC413
Waiting For
Memory Operation
NC213
Positioning
NC113
Completed Flag
Busy Flag
8-3-4 Operating Data Area
Item Model
Sequence number NC413
NC213
NC113
Output code NC413
NC213
NC113
8-4 Positioning Sequences
178
Operating memory area
X axis Y axis Z axis
n n+2 n+4
n n+2
n n
n+8 n+11 n+14
n+4 n+7
n+2
Note The Busy Flag will turn ON at the following times during memory operation:
• During pulse output
• While waiting for the dwell time to elapse
• While waiting for positioning completed status to be confirmed
• During linear interpolation
Operating memory area
X axis Y axis Z axis
I+16 I+28 I+40
I+16 I+28
I+16
I+59 I+63 I+67
I+35 I+39
I+23
Note 1. When positioning is executed with positions designated as absolute, a pres-
ent position unknown error (error code 5040) will be generated if the origin
has not been established.
2. If the software limit function set with the axis parameters is disabled (CW
limit equal to or less than CCW limit), and if the designation is made while the
origin is established (No Origin Flag OFF), positioning will be carried out by
a relative amount, even with absolute position data. (At the start of opera-
tion, present position is set to "0.")
This section explains in detail the format and settings of positioning sequences.
Positioning sequences are designated from the CPU Unit when memory opera-
tion is started, and they set data required for positioning, such as the target
speed number, acceleration/deceleration number, and so on.
Note With previous PCUs, data such as the target speed, acceleration/deceleration
time, and so on, was set for "positioning actions," which were the basic unit of
positioning. With this PCU, however, position data is set independently. These
PCUs are designed so that the position number used is the same as the number
of the sequence that is started. For example, if START is executed with
sequence #50 designated, positioning will be carried out using the position data
set for position #50. This positioning sequence can be used again with only the
position changed, and with the other data settings left unchanged.
Bits
U axis
n+6
01 : Start begins
02 : Independent start begins
00 1: Enable, 0: disable
n+17
04 1: Waiting for memory operation
0: Other than above
05
: Positioning operation completed
: When starting
13 1: Busy (See note)
Bits
U axis
I+52 00 to Specifies the sequence number in
15 hexadecimal.
I+71 00 to The output code (0 to F) set in the
15 positioning sequence is output in
hexadecimal.
Section 8-4
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