Omron SYSMAC CS1G Operation Manual page 593

Slave Modules
!Caution When operating an axis with the pulse output module, make sure to set the
JOG operation
Positioning operation
570
Output Current OFF signal (OW0030 bit13) to "1". If an axis movement com-
mand bit is turned ON with the Output Current OFF signal (OW0030 bit13) set
to "0", the alarm [03: Move reference when output current is OFF] will occur.
(This alarm only occurs on the MECHATROLINK module. It does not occur on
the MC Unit.)
• The settings of the parameter No. 02 (JOG speed, JOG Accel/decel time)
for word 1 are changed and JOG operation is performed.
• Controlling the status of the general-purpose I/O area (PORT_A) starts
and stops the JOG operation.
PROG P002 Q00000000; Pulse output module (JOG operation)
WAIT #IB00300 == 1; -------- Pulse unit ready
#OW0030 = 0; --------------- Output bit reset
;
;*** JOG parameter setting***
#OB00304 = 0;
#OB00305 = 1;
#OB00306 = 0;
#OB00307 = 0;
#OW0032 = 600; ------------- JOG speed data
#OW0033 = 200; ------------- Accel/decel time data
#OB00303 = 1; ----------------- Parameter settings started
WAIT #IB00304 == 1; ---------- Parameter setting completed
#OW0030 = 0; ---------------- Output bit reset
#OB00304 = 0;
#OB00305 = 0;
#OB00306 = 0;
#OB00307 = 0;
;
;*** JOG start ***
WHILE #IW0B00 == 1;
#OB0030F = 1;------- Servo ON
#OB0030D = 1;------ Output current OFF signal ON
IF #IW0B01 == 1; --- External input for JOG operation (General-purpose I/O
area: PORT_A)
#OB00309 = 1; ----------- JOG started
ELSE;
#OB00309 = 0; ----------
ENDIF;
WEND;
#OB0030F = 0; --------
#OB0030D = 0; --------
END;
• The settings of the parameter No. 05 (Positioning speed, Positioning
Accel/decel time) for word 1 are changed and positioning is performed.
• Controlling the status of the general-purpose I/O area (PORT_A) starts
and stops positioning operation.
PROG P002 Q00000000; Pulse output module (Positioning operation)
WAIT #IB00300 == 1; ------- Pulse unit ready
#OW0030 = 0; --------------- Output bit reset
;
;*** Positioning parameter setting ***
#OB00304 = 1;
Parameter No. specification (02)
Parameter No. specification (02)
Parameter No. specification (02)
Parameter No. specification (02)
Parameter No. specification (00)
Parameter No. specification (00)
Parameter No. specification (00)
Parameter No. specification (00)
JOG stopped
Servo OFF
Output current OFF signal OFF
Parameter No. specification (05)
Section 10-2