Omron CS1W-MCH71 Operation Manual page 299

Basic Information
Acceleration/Deceleration
Times and Pass Mode
Note
254
Ex) Correct Notation
MOVEL [J01] 100 [J02] 200;
MOVEL [J01] 200 [J02] 300;
MOVEL [J01] 300 [J02] 400;
:
If the following conditions are met, multiple execution commands can be used
between interpolation commands.
• The pass mode (P00M06) is set to 0 or 1.
• The operation time of one of the interpolation commands is longer than
the processing time for the multiple execution command.
Ex) PASSMODE;
WHILE #MW0000 = = 0;
INC MOVEL [J02] 100 F1000;
WEND;
The acceleration/deceleration times can be changed as required during pass
operation.
Specifically, the numbers of the parameters where the acceleration/decelera-
tion times are set are substituted for input variables to specify acceleration/
deceleration times. This called bank selection. Bank selection is possible not
only in pass mode, but also in stop mode.
PRGRAM P000 Q00000003;
PARAM P00111 = 100; Interpolation feed acceleration time bank 1 for task
1
PARAM P00112 = 200; Interpolation feed acceleration time bank 2 for task
1
:
PARAM P00120 = 1000; Interpolation feed acceleration time bank 10 for
task 1
:
PASSMODE;
#IW0A00 = 1; Selects task 1 bank 1 acceleration/deceleration time
MOVE [J01] 1000 F100000; Accelerates using the selected acceleration/
deceleration time
#IW0A00 = 2; Selects task 1 bank 2 acceleration/deceleration time
MOVE [J01] 20000 F200000; Passes using the selected acceleration/de-
celeration time
:
END;
P00111 to P00120 are task parameters. They can be set in advance from the
Support Tool running on a computer.
Section 6-1
Incorrect Notation
MOVEL [J01] 100 [J02] 200;
#IWOA00 = 1;
Not an interpolation command, so op-
eration will not be continuous.
MOVEL [J01] 100 [J02] 200;
: