Stopover Function - Omron CS1W-MC221 - 02-2008 Operation Manual

Stopover Function

N010 G01 X0 Y100 F100
N020 G69 #6/X50
N030 G02 X100 Y100 I50 J0 F200
N040 G02 X200 Y100 I50 J0 F300
N050 G69 #5/X0
N060 G01 X−100 Y−200 F100
6-10 Stopover Function
Overview
346
The changed servo parameters and feed rate parameters go into effect imme-
diately after G69 is executed.
Sets the position loop feed forward gain to 50%.
Increases locus accuracy by enabling position loop feed forward
gain when circular interpolation is executed.
Returns the position loop feed forward gain to 0%.
Locus accuracy is increased by enabling position loop feed forward
gain when circular interpolation is executed.
Mode: Automatic; Method: G language (G00, G01, etc.)
The stopover function outputs an M code or D code, without stopping axis
operation, when the axis has travelled for a specified distance (determined by
encoder feedback present position). Before the operation is completed, tact
time can be improved by using this function to control peripheral devices.
This function can be applied to G codes for all operations. Either D codes or M
codes can be used, but not both.
Monitoring for the stopover function is performed in the command direction
when movement is started. Specify the stopover function only for a moving
axis. If a version-1 Unit is used, an M code out of range error (0025) will occur
if the travel amount is 0.
Case 1: N010 G01 X100 F200 D100/X50
In this case, D code 100 is output when the X axis is moved
by 50 mm in the direction of the specified position.
Case 2: N010 G01 X200 F200 M600/X100
In this case, M code 600 is output when the X axis is moved
by 100 mm in the direction of the specified position.
Case 3: N010 G01 X100 F200 M700 D30
In this case, D30 and M700 are output when block N010 is
completed (i.e., when the X axis is moved by 200 mm).
Section 6-10
Target locus
Actual locus
Feed forward gain: 0%
Improved
Feed forward gain: 50%