Modal Data; Nesting; Unit For Time - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Program and Task Configuration
6-1-7

Modal Data

Initializing
Calling Sub-program
Parallel Branching
END Command Execution
6-1-8

Nesting

6-1-9

Unit for Time

250
Data that is selected by the following commands, and that can be omitted later
in the program, is called modal data.
Group Command
1 ABL/INC
2 PASSMODE/
STOPMODE
3 Operand F
When power is turned ON or when program execution is started in Start Mode
0 without executing END command, initialization is executed according to the
default settings of the parameters. Default setting parameter is maintained for
each task.
Group Command
1 ABL/INC
2 PASSMODE/
STOPMODE
3 Operand F
If a sub-program has been called using the GOSUB command, all modal data
is inherited. Also, when the operation returns to the main program from sub-
program, all modal data is inherited.
If parallel branching has been executed using the PARALLEL command,
modal data for all the branches is inherited.
Modal data that has been changed during each branch will not affect other
branches.
When branches join together again, the modal data of the leftmost branch is
inherited to subsequent blocks.
The execution of END command does not initialize modal data.
Nesting levels for nest-able commands are as follows:
Command
GOSUB 5 layers
WHILE-WEND 10 layers
FOR-NEXT 10 layers
IF-ELS-ENDIF 10 layers
The unit for time used for the following commands is [msec].
The minimum command unit is 1msec, however, the actual resolution is deter-
mined based on the system scan cycle (remainder to be omitted).
Command
MOVET Positioning time
CAM Cam execution time
DWELL Dwell time
Description
Interprets the specified position either as an absolute
value specification or as an incremental value specifica-
tion.
Sets the axis movement command operating mode to
either Pass Mode or Stop Mode
Sets the speed command value of the interpolation com-
mand in Operand F
Default value
ABL P00M07 (M = 1-8)
PASSMODE P00M08 (M = 1-8)
F=0 P00M09 (M = 1-8)
Motion task
Time
Section 6-1
Parameter No.