Omron CS1W-MC221 - 02-2008 Operation Manual page 435

G-language Commands
Note
408
Example 2: Speed Reference 2 Specified
G31 X100 F200 F100 (mm)
General Input 1
X-axis speed
200
Speed control
0
The X axis moves at 200 mm/s (speed control) until General Input 1 is turned
ON. The speed of the X axis will decelerate to the speed specified by Speed
Reference 2 (i.e., 100 mm/s) and the X axis will move for another 100 mm
(position control) from the position where General Input 1 was turned ON.
There is no difference in acceleration/deceleration time between the G31 and
G00 commands. It is generally set automatically according to the ratio of the
speed reference to the maximum feed rate. There are exceptions, however.
Refer to the following Operation Examples.
Refer to the following table for the correspondence between interrupt feeding
axes and general inputs.
Axis
X
Y
Z
U
The operation will vary as follows depending on whether or not the origin is
established.
Origin established:
Origin not established: The software limit will be disabled. The present po-
1. The preceding G01, G02, G03, or G32 command will operate in Stop Mode
instead of Pass Mode if this command is executed.
2. An error will result if the G31 command is executed if the value of Speed
Reference 2 is the same as or larger than that of Speed Reference 1. Make
sure that the value of the Speed Reference 1 is larger than of Speed Ref-
erence 2.
3. The value of a speed reference must be the same as or less than the max-
imum feed rate. If the value is larger than the maximum feed rate, the axis
will move at maximum feed rate and the override will be enabled for the
speed control but disabled for the position control.
Positioning Curve Examples
The following positioning curves are obtained according to the speed and
movement of the axis if a general input is turned ON.
Position control
(for 100 mm)
General input
Turning ON of General Input 1
Turning ON of General Input 2
Turning ON of General Input 3
Turning ON of General Input 4
The software limit will be enabled and the present
position will be always refreshed.
sition will be set to 0 at the start of operation if the
axis mode is Normal Feed Mode, and always re-
freshed if the axis mode is Unlimited Feed Mode.
Section 7-3
Time