Stop Mode - Omron CS1W-MC221 - 02-2008 Operation Manual

Operating Modes
6-8-1

Stop Mode

338
Among those G codes that execute positioning actions, there are some for
which any of the three operating modes can be selected and some for which
positioning is always executed in Stop Mode. These G code operations are
shown in the following table.
G code Name
G00 POSITIONING
G01 LINEAR INTERPOLATION
G02 CIRCULAR INTERPOLATION
(CLOCKWISE)
G03 CIRCULAR INTERPOLATION
(COUNTERCLOCKWISE)
G26 REFERENCE ORIGIN RETURN
G27 WORKPIECE ORIGIN RETURN
G28 ORIGIN SEARCH
G30 SPEED CONTROL
G31 INTERRUPT INCHING
G32 TRAVERSE
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Modes that can be specified.
---: Positioning is always executed in Stop Mode regardless of which
operating mode is specified.
If the Stop Mode is specified for continuous positioning operations, one opera-
tion is followed by the subsequent operation after the first positioning opera-
tion has been completed.
The following illustration shows changes in the time, speed, and pulses when
the axis is controlled as shown below.
Example:
N010 G00 X100
N011 G00 X200
Speed/error counter pulses
Speed Error counter pulse
P: In-position width
T: Time required for determining whether positioning is completed or not
Positioning is completed when the error counter pulse falls within the in-posi-
tion zone. By using the In-position Check OFF function, it is also possible to
start the next operation without waiting for positioning to be completed. In this
Operating mode
Stop Mode
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Moves X axis to 100-mm point by PTP control
Moves X axis to 200-mm point by PTP control
Section 6-8
Pass In-position
Mode Check
OFF Mode
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Time