Omron CS1W-NC113 Manual page 227

Deceleration Stop
Deceleration Stop During
Positioning with Relative
Positions
Deceleration Stop with
Linear Interpolation
If the completion code is continuous, positioning returns to the target position of
sequence #0 and an immediate reversal is executed without deceleration. Then
positioning is executed for sequence #1.
START
STOP
Speed
Sequence
Pulse
#0
output
Past target position
When positioning is stopped by a deceleration stop, the sequence that was
stopped is re-executed by starting positioning again.
START
STOP
Speed
Pulse
Sequence
output
#0
A deceleration stop with linear interpolation is executed by the STOP Bit of the
axis for which the START Bit (to start memory operation) is turned ON. After
deceleration has been completed, the Deceleration Stop Execution Flag is
turned ON. The STOP Bits of other axes are disabled.
For example, when executing linear interpolation for X-axis data with the X and Y
axes, deceleration stop can only be executed by the Deceleration Stop Bit of the
X axis. When deceleration stop is executed during interpolation operation, both
the X and Y axes stop from deceleration.
When positioning is restarted, the target position will vary, as shown below,
according to whether the positions for each active axis are relative or absolute.
In this example, linear interpolation is executed for the X and Y axes.
When X Axis Position is Relative and Y Axis is Absolute
When positioning is stopped by a deceleration stop, the sequence that was
stopped can be re-executed by restarting X-axis positioning. Positioning will be
resumed for the Y axis.
Y axis
Target position
Interpolation start
begins
Immediate reversal.
Sequence
#1
Sequence #0
#0
Sequence
#0
Completion of start
Re-start
STOP
Section 9-5
Time
Sequence
Time
#1
X axis
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