Manual And Automatic Operation - Omron CS1W-MC221 - 02-2008 Operation Manual

Overview of G-language Programs in the MC Unit
1-7-2

Manual and Automatic Operation

Manual Commands (from
the CPU Unit)
32
Number of tasks
3
4
Note The same program number cannot be used for different tasks.
Each task of the MC Unit can be executed either in Manual or Automatic
Mode. In the Automatic mode, MC programs created in the G language are
executed. In the Manual mode, manual commands from the CPU Unit or the
Teaching Box are executed.
Automatic Mode
PLC
Operation
command
The PLC interface area is used for executing the commands in the Manual
Mode or the MC program in the Automatic Mode.
There are 11 manual commands, including the deceleration stop, origin
search, reference origin return, and jogging commands, etc. For detail on
using these commands, refer to 5-2 Controlling the MC Unit from the CPU
Unit.
Command
DECELERATION STOP
ORIGIN RETURN
REFERENCE ORIGIN RETURN
JOG
RESET ERROR COUNTER
FORCED ORIGIN
SET ABSOLUTE ORIGIN
ENABLE MPG
SERVO-LOCK
SERVO-UNLOCK
PRESET PRESENT POSITION
Maximum number of
programs (CS1W-MC421)
33 programs/task
25 programs/task
MC program to be executed in the Automatic Mode
MC Unit
G language
N000 P001 XY
N001 G26 XY
N094 G79
Manual
command
Manual Mode
Decelerates and stops a moving axis.
For determining origins of mechanical system
when using an INC encoder.
For returning to the reference origin.
For moving the axis at a fixed feed rate.
Resets the error counter (accumulated pulses)
to 0.
Forcibly sets the motor's current stop position to
0, and establishes it as the origin.
Sets the present position as the origin for the
absolute encoder.
Takes input pulses from the MPG and executes
MPG operation.
Places the axis in servo-lock status.
Places the axis in servo-unlock status.
Sets the present position to any given value.
Section 1-7
Maximum number of
programs (CS1W-MC221)
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Automatic Mode
Teaching Box
Operation
commands
Manual
commands
Description