Procedures For Setting Data For Direct Operation; Starting Direct Operation During Memory Operation - Omron C200HW Operation Manual

Procedures for Setting Data for Direct Operation

7-3-5 Starting Direct Operation During Memory Operation

Absolute Movement Memory Operation
Movements from P0 to P1 to P2 to P3 to P0
are all executed with absolute position data.
While moving from P2 to P3, stop with a
deceleration stop and move to P4 in a
direct operation.
When memory operation is re-started, the
movements are from P4 to P3 to P0.
7-4

Procedures for Setting Data for Direct Operation

1, 2, 3...
Direct operation can be used even during memory operation, by bringing the
active axis to a decelerated stop. The interrupted sequence number will be
retained as long as new sequence numbers are not set and provided an origin
search or an origin return is not executed, or the present position is reset.
When memory operation is restarted, the interrupted sequence number will be
executed. Positioning in memory operation after direct operation has been used
will vary according to the absolute and relative positions in the position data.
Note If an attempt is made to execute something else while any of the following opera-
tions are in progress, a multiple start error (error code 8000) will be generated:
start, independent start, origin search, changing the present position, jogging,
teaching, releasing the pulse output prohibition, absolute movement, relative
movement, interrupt feeding, or saving data. Refer to the Busy Flag and wait
until the current operation has been completed before executing another opera-
tion.
The procedures for setting data for direct operation are explained below using
the X axis as an example.
1. Setting the common parameter area (Refer to 4-2 Common Parameter
Area.)
m: Determines whether DM or EM is made the operating data area.
m+1: Sets the beginning word (I) of the operating data area.
m+2: Designates the mounting position and parameters.
2. Powering up again or re-starting
The data in the common parameter area set in (1) above is enabled.
3. Setting the operating data area (Refer to 4-5 Operating Data Area.)
Set the position in I+6 and I+7.
Set the speed in I+8.
Set the acceleration time number in I+10
4. Executing the absolute movement or relative movement
Turn the ABSOLUTE MOVEMENT command bit (word n, bit 03) or the REL-
ATIVE MOVEMENT command bit (word n, bit 04) from OFF to ON.
The operations in (1) and (2) above are required when using a Position Control
Unit for the first time, or when modifying the data in the common parameter area.
Relative Movement Memory Operation
Movements from P0 to P1 to P2 to P3 to P0
are all executed with relative position data.
While moving from P2 to P3, stop with a
deceleration stop and move to P4 in a direct
operation.
When memory operation is re-started, the
movements are from P4 to P3' to P0'.
Section 7-4
This distance same
as P2 to P3
This distance same
as P3 to P0
143