Omron SYSMAC CS Series Instruction & Reference Manual page 786

Hide thumbs Also See for SYSMAC CS Series:

Table of Contents

3. Instructions

Refer to the CJ-series Position Control Unit Operation Manual (Cat. No. W426) for details on using

direct operation.

Precautions for Correct Use

• The Position Control Unit can execute only one command for one NCDMV(218) instruction each

control cycle. If high-speed PTP movements are started continuously, the Position Control Unit may

not be able to accept all of them. (In this case, the Equals Flag will be OFF.) Use the Equals Flag to

create a self-maintaining program, as shown below, so that NCDMV(218) will not be executed until

the Equals Flag turns ON, as shown below.

• NCDMV(218) will not be executed when the Position Control Unit is being initialized. Use the

following Unit Initializing Flags in NC conditions as execution conditions for NCDMV(218). (The Unit

Initializing Flags are A330.00 to A335.15 for Special I/O Units and A302.00 to A302.15 for CPU Bus

Initializing Flag

• When starting high-speed PTP positioning, pulse output will start as soon as NCDMV(218) is

executed. Updating axis status, such as the Axis Busy Flag, will be performed in the next I/O refresh

High-speed PTP start condition

Absolute Movement/Relative

Movement Reception Flag

Positioning Completed Flag

Pulse output

• NCDMV(218) can be used in an interrupt task, which allows high-speed PTP positioning to be started

with an interrupt. However, do not execute NCDMV(218) in a cyclic task for the same Unit if

NCDMV(218) is executed in an interrupt task. (The same thing applies to IORD(222) and

IOWR(223).) If an attempt is made to execute NCDMV(218) in an interrupt task when it is already

being executed for the same Unit in a cyclic task, it will cause a duplicate refresh error (non-fatal) and

A402.13 will turn ON.

I/O refreshing

The Absolute Movement/Relative

Movement Reception Flag in the axis

status will not turn ON when high-speed

PTP positioning is started.

I/O refreshing

CS/CJ/NSJ Series Instructions Reference Manual (W474)