Omron CS1W-MCH71 Operation Manual page 604

Coordinate System
When Parallel Branching
When executing the END
Command
9-3-2 Limited Length Axis and Unlimited Length Axis
Limited Length Axis
Upper limit of the
limited length axis
Lower limit of the
limited length axis
SL021A:
−2
No. of Multi-turns
• When executing parallel branching using PARALLEL command, the offset
value and coordinate system select will be inherited to all the branches.
• The offset value and coordinate system select changed in a branch will
influence other branches.
The offset value and coordinate system select will not be initialized at the
point when the program is ended by END command.
Either of the two types of coordinate management can be used, which can be
selected in the parameter [P5AA07: Axis feed mode].
• Limited length axis:
Used for the axes with traveling limits such as XY tables.
• Unlimited length axis:
Enables to control axes that move endlessly in one direction (turntable or
conveyor). For unlimited feed axes, the range for updating the present
position can be set as desired.
• Upper limit of the limited axis = (P5AA04 × P5AA06 × LONGMAX)/(No. of
encoder pulses × P5AA05)
• Lower limit of the limited axis = − (P5AA04 × P5AA06 × LONGMAX)/(No.
of encoder pulses × P5AA05)
No. of encoder pulses: If the type of encoder is 16-bit, it is 65536 pulses/r
(= 10000 Hex).
P5AA04: Command unit/1 machine rotation
P5AA05: Gear ratio 1 (Motor rotation speed)
P5AA06: Gear ratio 2 (Machine rotation speed)
0
−1
SL021A:
No. of Multi-turns is a system variable that indicates the number of times of
having exceeded the upper and lower limits of the Machine coordinate sys-
tem. Unless SL021A: No. of Multi-turns is zero, the target position and the
reached position will not match. Therefore, make sure to use the limited
length axis within the range of the upper and lower limits.
Present position
0
Section 9-3
Time
Workpiece coordinate system offset >0
Machine coordinate system
Workpiece coordinate system offset <0
1 2
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