Omron CJ - REFERENCE MANUAL 02-2010 Reference Manual page 852

3. Instructions
0.00
0.00
20.00
CJ2 CPU Unit
Direct Operation Command
Settings for Axis 2
D12
D13
D14
D15
D22
D23
816
10.00
A330.03
Initializing Flag for
Special I/O Unit with
unit number 3
#0000
#0000
#3A98
High-speed PTP started.
#0002
#00C8
#0000
Speed
Target speed
Deceleration
250mm/s
time
0.2 s
Starting speed
(Specified in axis
parameters.)
High-speed PTP started.
MOVL Sets positioning data.
Example: 150 mm, Command unit
#00003A98
= 0.01 mm, so the command
position for axis 2 is set to 0000
D14
3A98 hex (15,000 decimal).
Sets the target speed.
MOVL
Example: 250 mm/s, Command
#000061A8
unit = 0.01 mm/s, so the command
speed for axis 2 is set to 0000
D16
61A8 hex (25,000 decimal).
Sets the acceleration time.
MOVL
Example: 0.2 s, Unit = ms, so the
#000000C8
acceleration time for axis 2 is set
to 0000 00C8 hex (200 decimal).
D20
Sets the deceleration time.
MOVL
Example: 0.2 s, Unit = ms, so the
#000000C8
deceleration time for axis 2 is set
to 0000 00C8 hex (200 decimal).
D22
NCDMV Special I/O Unit with unit number
3, relative move, axis 2
#00030102
C
First word of Direct Operation
D0
A
Command Area
10.00
=
20.00
CJ1W-NC2@4 Position Control Unit
(Special I/O Unit with unit number 3)
Direct Operation
Amount of movement
150 mm
Deceleration
time
0.2 s
Time
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Servo
Drive
Axis 2
Pulses