Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 268

Program and Task Configuration
Note
S-curve Filter & Stop
Mode/Pass Mode
Speed Trapezoidal Waveform
0
Speed
Trapezoidal Waveform
0
As in the following cases, however, the operation is stopped (or started) with-
out executing SPEEDR or TORQUER command. Therefore, the speed
change rate or torque change rate specified in the previous SPEED or
TORQUE command is used.
• When an alarm occurred
• When a program ended
• When a program was interrupted
• When a program was restarted after interruption.
Movement averaging filter is used for the S-curve acceleration/deceleration of
the MC Unit.
A command of the next block can be executed during S-curve deceleration.
However, if the command is to be executed after completion of the previous
command's output (as it should be for CAM, etc.), STOPMODE or PASS-
MODE command can be used to control the execution.
When MOVELaMOVE command was executed in Pass Mode:
Program example:
PROG P0001 Q00000001;
PASSMODE;
INC MOVEL [J01] 10000 F100000; Interpolation feed S-curve filter enable
INC MOVE [J01] 10000; Rapid feed S-curve filter disable
END;
S-curve Waveform
When MOVELaMOVE command was executed in Stop Mode:
Program example:
PROG P0001 Q00000001;
STOPMODE;
INC MOVEL [J01] 10000 F100000;
INC MOVE [J01] 10000;
END;
S-curve Waveform
Section 6-1
Time
Time
245