Modal Data - Omron CS1W-MCH71 Operation Manual

Basic Information
1,2,3...
6-1-7

Modal Data

Initializing
Timing chart
J01 Operation (slave axis)
J02 Operation (master axis)
J03 Operation (MOVE)
Explanation
1. Having J02 as a master axis with the travel distance of 1000, J01 is moved
to the position of 2000 through synchronization. In this operation, the ac-
celeration interval of the slave axis is specified between the synchroniza-
tion start position and 200 of the master axis travel distance while the
deceleration interval is specified between the synchronization end position
and 200 of the master axis travel distance. The program advances with the
link option set to "1" (link operation is started at the same time as the com-
mand execution start, the command execution is completed at the same
time as the command execution start).
2. Using the global variable #MW0000, the program notifies task 2 that
MOVELINK block has been executed. (It is used as interlocking for the
master axis.) As the response, task 2 resets the content of the global vari-
able (#MW0000 = 0;), and then executes the command for (6).
3. J03 is executed simultaneously during the operation of J01.
4. Monitoring the command execution status of the system variable
#SW0228 (for Axis 1), the advancement of task 1 is held until the com-
mand code becomes "0000" (no axis movement).
5. J01 is finished with the MOVELINK command of (1) after (4), another sin-
gle execution command can be executed.
Data that is selected by the following commands, and that can be omitted later
in the program, is called modal data.
Group Command
1 ABL/INC
2 PASSMODE/
STOPMODE
3 Operand F
When power is turned ON or when program execution is started in Start Mode
0 without executing END command, initialization is executed according to the
default settings of the parameters. Default setting parameter is maintained for
each task.
Group Command
1 ABL/INC
(1)
MOVELINK
(6)
MOVE
(3)
MOVE
Description
Interprets the specified position either as an absolute
value specification or as an incremental value specifica-
tion.
Sets the axis movement command operating mode to
either Pass Mode or Stop Mode
Sets the speed command value of the interpolation com-
mand in Operand F
Default value
ABL P00M07 (M = 1-8)
Section 6-1
(5)
MOVE
Parameter No.
275