Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 255

Program and Task Configuration
Classifica- Function
tion
Axis opera- MOVELINK
tion start
CAMBOX
CONNECT
SYNC
ADDAX
SPEED
TORQUE
Axis opera- SYNCR
tion end
ADDAXR
SPEEDR
TORQUER
Axis con- JOG
trol bits
STEP
Origin
search
Machine ori-
gin return
Operating Mode
232
Acceleration time Deceleration time
Calculated with oper- Calculated with oper-
and A and other travel and D and other travel
distances distances
Depending on the Depending on the
CAM table CAM table
--- ---
←
P2AA05: Rapid feed
acceleration time
Note When trailing
--- ---
Specified by operand Specified by operand
T T
Specified by operand Specified by operand
T T
P2AA05: Rapid feed P2AA06: Rapid feed
acceleration time deceleration time
--- ---
--- Specified by operand
T
--- Specified by operand
T
P2AA07: Manual feed P2AA08: Manual feed
acceleration time deceleration time
P2AA07: Manual feed P2AA08: Manual feed
acceleration time deceleration time
←
P2AA07: Manual feed
acceleration time
P2AA07: Manual feed P2AA08: Manual feed
acceleration time deceleration time
Axis movement commands can be executed in either of two operating modes;
one is Pass Mode and the other is Stop Mode. They can be changed using
PASSMODE or STOPMODE command in a program.
Pass Mode:
In Pass Mode, when a consecutive operation has been specified, the program
proceeds smoothly to the next operation without confirming completion of
positioning.
Note that there are some commands that are always executed in Stop Mode.
Stop Mode:
In Stop Mode, when a consecutive operation has been specified, the program
always confirms completion of positioning (in-position). Once positioning has
been completed, the next operation is started.
For confirming positioning completion, either in-position range (set in the
servo parameter) or No. 2 in-position range (set in system parameter) is used.
Which range is to be used depends on each command.
Time or S-curve filter select
Acceleration / S-curve filter time
Deceleration
Depending on the ---
travel distance. (Time
image)
Depending on the ---
CAM table
--- ---
Acceleration/deceler- ---
ation
Note When trailing
--- ---
Time ---
Time ---
Acceleration/deceler- ---
ation
--- ---
Acceleration/deceler- ---
ation
Acceleration/deceler- ---
ation
Acceleration/deceler- P2AA10: Manual feed
ation S-curve filter enable
P2AA12: Manual feed
S-curve time constant
Acceleration/deceler- P2AA10: Manual feed
ation S-curve filter enable
P2AA12: Manual feed
S-curve time constant
Acceleration/deceler- ---
ation
Acceleration/deceler- ---
ation
Section 6-1
constant