Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 257

Program and Task Configuration
Acceleration/Deceleration
Times and Pass Mode for
Pre-Ver. 2.0 MC Units
234
Ex) Correct Notation
MOVEL [J01] 100 [J02] 200;
MOVEL [J01] 200 [J02] 300;
MOVEL [J01] 300 [J02] 400;
:
Pre-Ver. 2.0 MC Units
If the following conditions are met, multiple execution commands can be used
between interpolation commands.
• The pass mode (P00M06) is set to 0 or 1.
• The operation begins with two consecutive interpolation commands.
• The operation time of one of the interpolation commands is longer than
the processing time for the multiple execution command.
Ex) PASSMODE;
MOVEL [J01] 100 F10000;
MOVEL [J02] 400 F10000:
WHILE #MW0000==0;
INC MOVEL [J02] 100 F1000;
WEND;
MC Units with Ver. 2.0 or Later
If the following conditions are met, multiple execution commands can be used
between interpolation commands. The only difference between the conditions
here and those for Pre-Ver. 2.0 MC Unit is that the operation does not have to
begin with two consecutive interpolation commands.
• The pass mode (P00M06) is set to 0 or 1.
• The operation time of one of the interpolation commands is longer than
the processing time for the multiple execution command.
Ex) PASSMODE;
WHILE #MW0000==0;
INC MOVEL [J02] 100 F1000;
WEND;
The following acceleration/deceleration times are used in pass mode.
Programming Example
PASSMODE;
MOVE [J01] 10000 F100000;
MOVE [J01] 20000 F200000;
END;
Section 6-1
Incorrect Notation
MOVEL [J01] 100 [J02] 200;
#IWOA00=1;
Not an interpolation command, so op-
eration will not be continuous.
MOVEL [J01] 100 [J02] 200;
: