Omron SYSMAC CS1G Operation Manual page 301

Command Details
Origin Search
(DATUM)
Command type
Format
Operand
Operand Setting range
−2147483648 to
Offset value
2147483647
Note
278
• In radius specification, if [Radius] is positive, the center angle will be 180
degrees or smaller. If [Radius] is negative, the center angle will be 180
degrees or greater.
180 degrees
or greater
180 degrees
or smaller
Start position
• MOVEC command execution will be completed (or No.2 in-position com-
plete) when the travel distance command output for all specified axes is
completed.
• During the command execution, the command code "0003h" is output to
the system variable "Command execution status" (SW0228 for Axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 142.)
• When a circular arc cannot be drawn with the specified radius or center
position, the radius is compensated to draw the arc. Having the radius in
radius specification or the radius calculated with center specification as
the initial value, the radius is increased to accomplish the radius at the
end position along the rotating angle.
• When executing circular interpolation on the axis with S-curve filter set-
ting, an arc larger than the specified arc may be drawn. The greater the S-
curve time constant is, the greater the overshoot amount (= Specified arc
- Actual arc) will be. Operate only after thorough adjustment is made.
The DATUM command performs an origin search for the specified axis.
Single execution command
DATUM_[<axis name>]<offset value> ---8---;
Ex: DATUM_[J01]0 [J02]0;
Axis name: J01 to J32
Decimal
Bit
Yes No
(1) Word data is extended to long word data with a sign in the MC Unit.
(2) The actual value is determined by the setting value of the parameter
[P5AA02: Position command decimal point position].
(3) There is no influence. ABL specification is always used.
Radius < 0
End position
Radius > 0
Variable specification
Word Long Real
word number
Yes (See Yes Yes (See
note 1.) note 2.)
Section 6-3
INC/ ABL
influ-
Indirect
ence
specifi-
cation
Yes No (See
note 3.)