Omron SYSMAC CS1G Operation Manual page 537

Coordinate System
Commands by program
Axis Control Bit:
Axis Machine Lock
Axis Status Bit:
Axis Machine Lock
Status
Axis Status Bit:
Axis Operating
Control Mode
Effect
Operation during Parallel
Execution
Servo ON/OFF
9-3 Coordinate System
9-3-1 Machine Coordinates and Workpiece Coordinates
514
Position Speed/Torque
command command
Wait
1
0
1
0
1
0
Position Control Speed/Torque Control
• Machine Lock is a function independent for each axis, so there is no effect
of other axes.
When Machine Lock is executed on some of the axes (not on all the axes)
during an operation involving several axes, the mechanical system may
operate in an unexpected way.
• In Machine Lock state, the origin search operation with DATUM com-
mand, Axis Control Bit: Origin Search will be the same as the operation of
Axis Control Bit: Forced Origin. (This is to prevent the axis from moving
endlessly. It is caused by the fact that the axis does not move at all in
Machine Lock state and no external signal will be input.)
Regardless of parallel branching, Machine Lock status (set or reset) will be
changed only in relation to the axis status.
Even in Machine Lock state, Servo ON of the concerned axis is required to
move the axis.
There are two types of coordinate systems:
• Machine coordinate system:
This is the coordinate system unique to the system that is determined by
defining an origin.
• Workpiece coordinate system:
This is the coordinate system unique to the work that is determined by
adding an offset to the machine coordinate system. There are 3 of them
for each axis. The offset of the workpiece coordinate system is deter-
mined by executing OFFPOS command, and executing WORK command
enables the workpiece coordinate system.
The status will be changed when
the bit [Axis Operating] = 0 in the
position control mode.
Position command
Position Control
Section 9-3
The output remains as the
position command in Axis
Machine Lock state.
Speed/Torque command
Wait
Position Control