Omron SYSMAC CS1G Operation Manual page 372

Operating Mode
Note
1,2,3...
Start Mode
0,3 Reads the program number and execute the program from the beginning.
1 Program is executed from the block indicated by Executing Motion Block No.
Operation varies depending on the command or stopping status.
• Resuming motion program when executing MOVE/MOVEL/MOVEC/MOVEI/MOVET commands:
The program is resumed from where it was stopped.
• Resuming motion program when executing MOVETRAV/MOVELINK/CAMBOX (1 cycle) commands:
When stopped midway, the program resumes for the remaining travel distance. In case of block stop, the
program for the entire travel distance is executed again.
• Resuming motion program when executing commands DATUM/CAM
For both midway stop and block stop, the program for the entire travel distance Is executed again.
2 Resumes the program from the next block of the block indicated by Executing Motion Block No.
When a program is
stopped in the middle of a
block for a finite length
axis
2. Specify the program number to be executed.
Set the program number to be executed in the motion task control data
[Motion program number (word m+22)] of motion task control data.
3. Set the Start Mode for restarting the motion program interrupted in the mid-
dle of execution. (See note.)
Set the mode in the axis control bit [Start Mode (01 and 02 bits of word
n+4)].
4. Start the program.
Turn ON the Motion task control bit [Motion program start (01 bit of word
n+4)].
There are three different patterns to stop a motion program:
1. Motion task control bit [Deceleration stop] (Interruption):
Deceleration stop is executed regardless of the block (Stopped in the mid-
dle).
2. Motion task control bit [Block stop]:
Operation is stopped at the end of the block currently being executed
(Block stop).
3. END command is executed.
The method of resuming the interrupted motion program can be selected
in the Start Mode as show in the table below.
Details of resuming motion programs interrupted in midway of MOVE/MOVEL/
MOVEC/MOVEI/MOVET command execution (in Start Mode 1 or 2) are
explained in the following pages.
The Executing Motion Block No. indicates the block where the motion pro-
gram was stopped.
Operation
Section 7-2
349