6-1-13 Virtual Axis - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Program and Task Configuration
Number of digits after the
decimal point
Negative value
Positive value
Maximum number of digits
excluding 0
Maximum number of digits
after the decimal point
Variable

6-1-13 Virtual Axis

Function item
Device type
Servo lock/unlock
ABS origin setting
Axis machine lock
IORD/IOWR of Servo
parameters
Origin search
Hardware OT
DATUM command
MOVEI command
Master axis of SYNC
command
Link option requiring latch Alarm [3015h: Axis classification error] occurs and the program is stopped.
SPEED/SPEEDR com-
mand (Speed control)
TORQUE/TORQUER
command (Torque con-
trol)
LATCH command
Establishing machine
coordinate system origin
256
• Decimal number: Value with decimal point
Minimum value: − 2147483648.
Maximum value: 2147483647.
Maximum number of decimals: 30 digits
Maximum number of digits excluding 0: 10 digits
(Negative value: 2147483648, Positive value: 2147483647)
<Example> The decimal number with the greatest No. decimals is shown in
the following table.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
0 . 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 4 7 4 8 3 6 4 8
-
+ 0 . 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 1 4 7 4 8 3 6 4 7
--------------------------------------------------30 digits-------------------------------------------------------
Depending on the operand, variables can be specified instead of immediate
values.
Refer to 6-3 Command Details (page 271).
The following table describes the differences between virtual axes and real
axes.
Virtual axis = Virtual Servo axis only.
Required as well as the real axis.
Ignored
Ignored
PARAM command Alarm [2019h: Parameter setting error] will occur and the program is
stopped.
IORD/IOWR Error completion
Support tool Required as well as the real axis, Only writing into MC Unit possible.
Same operation as machine origin return. (Positioning to the origin)
Does not operate because external input cannot be input.
Same operation as execution of the following programs. (Same as when origin search is per-
formed by control bits.)
ORIGIN; Machine coordinate system select
ABL MOVE [Jxx]0; Positioning to machine coordinate system origin.
Alarm [3015h: Axis classification error] occurs and the program is stopped.
Alarm [3015h: Axis classification error] occurs and the program is stopped.
Command is enabled as well as for the real axis.
Alarm [3015h: Axis classification error] occurs and the program is stopped.
Alarm [3015h: Axis classification error] occurs and the program is stopped.
The position where power is turned ON is determined as machine coordinate system origin.
(Operates in [Origin at power ON] mode.)
It is possible to determine a user-specified position as an origin using the axis control bit
[Forced origin].
Specifications
Section 6-1
------------ 10 digits-----------