Omron CS1W-MCH71 Operation Manual page 359

Command Details
314
• If either the global variable or position data is used for CAM table, phase
and displacement are to be specified as double-length integer type data.
Starting data number →
MLmmmm
= mmmm
MLmmmm+2
Ending data number →
MLnnnn
= nnnn
MLnnnn+2
• If a minus sign is added to the CAM table number, the CAM data is read
tracing the data numbers in the reverse order.
• The range of Displacement data multiplier is from − 200.00 to 200.0%
(0.01% unit, limited to the values that can be obtained from the internal
processing).
• When "0" is specified in Displacement data multiplier, the operation pro-
ceeds to the next block without any axis movement after Execution time
specified in T elapses.
• If Starting data number specification is omitted, the starting data number
will be 0.
• If Ending data number specification is omitted, the ending data number is
the greatest data number in that table.
• If the specifications of [Starting data number] = [Ending data number] are
made, the alarm [200Ch: Number specification error] will occur.
• The CAM operation from the starting position to the ending position is
executed within the execution time specified in T (Execution time).
• When either of the following conditions is met, the phase will return to 0
(i.e. to the beginning or end of the table) and data is read.
Data reading direction
Forward
Reverse
Note that this operation is executed only when the CAM data is used as the
CAM table. If the specifications described above are made when the global
general variable or position data is used as the CAM table, the alarm
[200Ch: Number specification error] will occur.
• The data reading period is to be one cycle or less.
• The word "Displacement" means the increased value from the CAM com-
mand start point.
Data No. Phase
1 0
2 500
3 1000
4 1500
5 2000
6 2500
Global general variable
Phase
Displacement
Phase
Displacement
Data number
(Starting data number) > (Ending data number)
(Starting data number) < (Ending data number)
Displacement
0
400
1600
3600
6400
10000
Section 6-3
Position data
PLmmmm
PLmmmm+1
PLnnnn
PLnnnn+1