Omron SYSMAC CS1G Operation Manual page 331

Command Details
Pass Mode
(PASSMODE)
Command type
Format
Operand
Description
P00M06 Name
0 Interpolation acceleration time
+ Acceleration disabled
1 Interpolation deceleration
time+ Acceleration disabled
2 Interpolation acceleration
time+ Acceleration enabled
3 Interpolation deceleration
time+ Acceleration enabled
Stop Mode
(STOPMODE)
Command type
Format
Operand
Description
Interpolation 1
308
For example, when changing the interpolation feed speed for motion task
parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms.
The operating mode is switched to Pass Mode.
Multiple execution command
PASSMODE;
Ex: PASSMODE;
Nil
• Interpolation blocks (MOVEL/MOVEC/MOVETRAV) after PASSMODE
command are executed in Pass Mode.
Interpolation 1
• There are four modes for linking speeds, one of which can be selected in
the parameter [P00M06: Pass mode select].
Operation proceeds to the next using interpolation acceleration time of the
previous block.
Operation proceeds to the next using interpolation deceleration time of the
previous block.
Operation proceeds to the next using interpolation acceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
Operation proceeds to the next using interpolation deceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
The operating mode is switched to Stop Mode.
Multiple execution command
STOPMODE;
Ex: STOPMODE;
Nil
Interpolation blocks (MOVEL/MOVEC/MOVETRAV) following STOPMODE
command proceeds to the next block after entering No. 2 in-position range
specified in the parameter [P3AA07: No.2 in-position range]. (Interpolation for
the next block will start after speed decreases to 0 and positioning enters No.2
in-position range.)
Interpolation 2
Interpolation for the next block will be executed
after the previous block enters No.2 in-position
range.
Interpolation 3
Interpolation 2
Operation
Interpolation 3
Section 6-3