Controlling The Mc Unit From The Cpu Unit; Manual And Automatic Modes - Omron CS1W-MC221 - 02-2008 Operation Manual

Controlling the MC Unit from the CPU Unit

5-2 Controlling the MC Unit from the CPU Unit
5-2-1

Manual and Automatic Modes

Note
228
This section describes the CPU Unit ladder program that controls the MC Unit
in Manual Mode or Automatic Mode.
There are two ways to control the MC Unit: Manual Mode or Automatic Mode.
The mode can be changed using the Automatic/Manual Mode Bit in the PLC
Interface Area. The mode can be set for each task. ON: Automatic Mode,
OFF: Manual Mode.
In Manual Mode, the following functions can be used to control each axis.
Refer to the references listed in the table for more information, including tim-
ing charts and ladder programming examples.
Function
Deceleration Stop
Origin Searches
Reference Origin Returns
Jogging
Resetting the Error Counter (See note 1.) 284
Setting the Origin
Setting the Absolute Origin
Enabling MPG/Sync Encoder
Servo-lock (See note 1.)
Servo-unlock (See note 2.)
Presetting the Present Position
1. Resetting the Error Counter and Servo-unlock operations can also be per-
formed in Automatic Mode.
2. Presetting the Present Position is performed using the IOWR instruction.
Automatic Mode uses G-language programs in the MC Unit.
Automatic Mode
PLC
RUN
command
Manual
commands
280
281, Section 10
282
283
290
291, Section 10
292
293
296
364
G language program executed in Automatic Mode
Manual Mode
MC Unit
G language
N000 P001 XY
N001 G26 XY
N094 G79
Manual Mode
Section 5-2
Reference
Teaching Box
RUN
command
Manual
commands