Operations With Direct Operation; Starting Direct Operation; Direct Operation And The Operating Data Area; Multiple Starts With Direct Operation - Omron CS1W-213 - REV 02-2008 Operation Manual

Operations With Direct Operation

7-4 Operations With Direct Operation
7-4-1

Starting Direct Operation

1,2,3...
When Executed by
ABSOLUTE MOVEMENT
Command
When Executed by
RELATIVE MOVEMENT
Command
7-4-2

Direct Operation and the Operating Data Area

Note
7-4-3

Multiple Starts With Direct Operation

Note
There are two ways of starting direct operation.
1. Turn the ABSOLUTE MOVEMENT command from OFF to ON (
2. Turn the RELATIVE MOVEMENT command from OFF to ON (
Positions to the location arrived at by designating the position for the operat-
ing data area as absolute.
Positions to the location arrived at by designating the position for the operat-
ing data area as relative.
Interrupt feeding and jogging (speed feeding) are available to start direct oper-
ation. See 9-1 Jogging and 9-3 Interrupt Feeding for details about these oper-
ations and how to use them.
Positioning operations using direct operation are determined by data set in the
operating data area.
ABSOLUTE MOVEMENT command/
RELATIVE MOVEMENT command
Keep the ABSOLUTE MOVEMENT command or RELATIVE MOVEMENT
command ON until the Busy Flag for the designated axis turns ON.
During direct operation, relative or absolute movements can be carried out by
setting new positions, speeds, acceleration, and deceleration in the operating
data area. In this event, the positioning currently being executed is cancelled
and the axis is moved towards the newly designated position.
The Busy Flag does not need to be checked when a multiple start is used.
Also, depending on the conditions or timing, a multiple start may not be valid.
Refer to Multiple Start Operating Patterns, below, for details.
If data in the operating data area is changed during direct operation, position
data will become effective when the next direct operation is designated.
Speed data goes into effect as soon as it is written to the operating data area,
unrelated to any other commands.
The value specified at the first startup can be used for acceleration/decelera-
tion data.
With Ver. 2.0 or later, the value specified for each multiple start is used for
acceleration. The value set for the first start is used for deceleration.
Target speed
Initial speed
Acceleration
time
Busy Flag
Section 7-4
)
)
Deceleration
time
179