Control Command - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Command Details
1,2,3...
Single Block Ignored
(NSTOP)
Command type
Format
Operand
Description
6-3-5

Control Command

Program Start (PROG)
Command type
Format
• Especially, be cautious of temporary power interruption since it is impossi-
ble to know when it happens. Should it happen on the MC unit, make sure
to clear the latch check range by setting the servo driver so that its power
is also restored when it happens, or by using the following programs when
restarting the MC Unit:
1. Execute the program that only clears the latch check range:
Execute LATCH command to clear the range (Example 1)
PROG Pxxx Qxxxxxxxx; Program started
LATCH [Jxx] #xxxxxx; Latch range cleared (Latch resource acquired)
END; Program completed (Latch resource released)
Execute PARAM command to clear the range (Example 2)
PROG Pxxx Qxxxxxxxx; Program started
PARAM [Jxx]820 = 0; Servo parameter positive latch possible range
cleared
PARAM [Jxx]822 = 0; Servo parameter negative latch possible range
cleared
END; Program completed
2. Add a command that intentionally clears the range before executing origin
search, etc.:
Execute LATCH command to clear the range (Example 3)
LATCH [Jxx] #xxxxxx; Latch range cleared (latch resource acquired)
LATCH [Jxx] #xxxxxx I0 J0; Latch resource released
DATUM [Jxx]; Origin search
Execute PARAM command to clear the range (Example 4)
PARAM [Jxx]820 = 0; Servo parameter positive latch possible range
cleared
PARAM [Jxx]822 = 0; Servo parameter negative latch possible range
cleared
DATUM [Jxx]; Origin search
In single block mode, the block specified with NSTOP command does not stop
at the end of the block and proceeds to the next block.
Not executed as an independent command (no type).
NSTOP_<other command>;
Ex: NSTOP_MOVE [J01]100.00 [J02]-300.00;
Nil
• In single block mode, the block with NSTOP command at the beginning
does not stop at the end of the block and proceeds to the next block.
• When the motion task control bit [Block stop] is turned ON, stopping the
operation is prioritized and the block is stopped regardless of this com-
mand's influence.
The Program Start (PROG) command declares axes to be used in the pro-
gram.
Multiple execution command
PROG_P<program number> {Q<axis declaration>};
Section 6-3
313