Command Overview; Command List - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Command Overview

Parallel Branching
Executing End Command
6-2 Command Overview
6-2-1

Command List

Classifica- Command/func-
tion tion name
Axis move- POSITIONING
ment
LINEAR INTERPO-
LATION
CIRCULAR INTER-
POLATION
ORIGIN SEARCH
INTERRUPT FEED-
ING
TIME-SPECIFIED
POSITIONING
TRAVERSE
ELECTRONIC CAM,
SINGLE AXIS
260
When returning to the main program from the sub-program, all the modal data
is inherited.
If parallel branching has been executed using the PARALLEL command, the
offset value and coordinate system select for all the branches are inherited.
The offset value and coordinate system select that have been changed in a
branch will affect other branches as well.
If a program is ended using the END command, neither the offset value nor
coordinate system select are initialized.
There are two types of commands for the MC Unit.
• Single Execution Command:
In a motion task, two or more commands of this type cannot be executed
together in one scan. It can be executed simultaneously, however, with
multiple execution commands or with another single execution command
in another branch of parallel branches.
Commands related to movement are usually of this type.
• Multiple Execution Command:
In a motion task, several commands of this type can be executed together
in one scan. It can be executed simultaneously with a single execution
command or other multiple execution commands in the same scan.
Commands related to operation (arithmetic, logical, etc.) are usually of this
type.
The meanings of the symbols in the motion task column are as follows:
Symbol
S Single Execution Command
M Multiple Execution Command
x Not executed as an independent command (no type).
Commands that can be used in the motion program are listed below:
Code Applicable
task
Motion
MOVE @ S
MOVEL @ S
MOVEC @ S
DATUM @ S
MOVEI @ S
MOVET @ S
MOVETRAV @ S
CAM @ S
Meaning
Summary
Moves each axis independently.
Moves axes with linear interpola-
tion.
Moves axes with circular interpo-
lation.
Finds machine origin according
to input signals.
Changes target position by
means of input signals.
Performs positioning with speci-
fied time period.
Executes winding (traverse)
function of winder.
Executes cam operation accord-
ing to cam table.
Section 6-2
Completion condi-
tion (Proceed to
next block)
In-position
Travel distance out-
put completed.
Travel distance out-
put completed.
In-position
In-position
In-position
Travel distance out-
put completed.
In-position