Omron SYSMAC CS1G Operation Manual page 548

The section provides a programming example to demonstrate how the CS1W-MCH71 Motion Control Unit can be used.
10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-1 Positioning with PTP Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-2 Positioning with Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . .
10-1-3 Positioning with Linear and Circular Interpolation. . . . . . . . . . . . . .
10-1-4 Positioning with Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-5 Positioning with Workpiece Coordinate System with Subprograms
10-1-6 Positioning with Changing Interpolation Acceleration Time Parameter 532
10-1-7 Positioning with Position Data Calculation . . . . . . . . . . . . . . . . . . .
10-1-8 Stopping a Program with General Input . . . . . . . . . . . . . . . . . . . . . .
10-1-9 Stopping Operation with Optional End Using General Input and
Assigning Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-10 Positioning of Turntable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-11 Positioning with Circular Interpolation of Higher Path Accuracy . .
10-1-12 Starting Peripherals during Axis Movement . . . . . . . . . . . . . . . . . . .
10-1-13 High-speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-14 Interrupt Feeding (MOVEI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-15 Time-specified Positioning (MOVET) . . . . . . . . . . . . . . . . . . . . . . .
10-1-16 Regular Winding to Rough Winding (MOVETRAV) . . . . . . . . . . . .
10-1-17 Electronic Cam, Single Axis (CAM) . . . . . . . . . . . . . . . . . . . . . . . .
10-1-18 Link Operation (MOVELINK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-19 Electronic Cam, Synchronous (CAMBOX) . . . . . . . . . . . . . . . . . . .
10-1-20 Electronic Shaft (CONNECT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-21 Trailing Synchronization/Synchronization Cancel (SYNC/SYNCR)
10-1-22 Travel Distance Superimpose/Travel Distance Superimpose Cancel
(ADDAX/ADDAXR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-23 Speed Control/Speed Control Cancel (SPEED/SPEEDR) . . . . . . . .
10-1-24 Torque Control/Torque Control Cancel (TORQUE/TORQUER) . . .
10-1-25 Target Position Change (MOVEMODI) . . . . . . . . . . . . . . . . . . . . . .
10-1-26 Present Position Latch (LATCH) . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-27 Single Block Ignored (NSTOP) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-1-28 Parallel Execution (PARALLEL, JOINT, JWAIT) . . . . . . . . . . . . . .
10-1-29 Selective Execution (SWITCH, CASE, BREAK, SEND) . . . . . . . .
10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-2-1 Using 64-Point I/O Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-2-2 Using Counter Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-2-3 Using Pulse Output Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SECTION 10
Program Example
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