Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 36

Performance Specifications
Item
Control Servo lock/unlock
operations
Jogging
based on
commands
STEP operation
from the
CPU Unit Origin search
Forced origin
Absolute origin set-
ting
Error counter reset
Machine lock
Single block
Auto/manual change Switches between auto mode and manual mode.
Control Positioning (PTP)
Operations
according
to motion
program
Linear interpolation
Circular interpolation Executes clockwise or counterclockwise circular interpolation for two axes at their
Origin search
Interrupt feeding
Time-specified Posi-
tioning
Traverse function
Electronic Cam, Sin-
gle Axis
Synchronous Elec-
tronic cam
Link operation
Electronic Shaft
Trailing synchronous
operation
Speed command
Torque command
Acceleration /deceleration curve
Accelera- Acceleration/ decel-
tion/ decel- eration time
eration time
S-shape time con-
stant
Executes Servo driver lock or unlock
Executes continuous feeding independently for each axis, by means of speed set in
system parameter x override.
Feeds a specified distance for a specified axis.
Defines the machines origin according to the search method set in the system
parameters.
Forcibly sets the present position to 0 to establish it as the origin.
Sets the origin when an absolute encoder is used.
Offset value: Signed 32-bit (pulses)
Forcibly resets the error counter to 0.
Prohibits the output of motion commands to the axes.
Executes the motion program one block at a time.
Executes positioning independently for each axis at the speed set in the system
parameters.
Simultaneous specification: 8 axes max. /block
Simultaneous execution: 32 blocks max. /unit
Executes linear interpolation for up to 8 axes simultaneously at the specified interpo-
lation speed.
Simultaneous specification: 8 axes max. /block
Simultaneous execution: 32 blocks max. /system
specified interpolation speed.
Simultaneous specification: 2 or 3 axes/block
Simultaneous execution: 16 blocks max. /system
Defines the machine origin according to the search method set in the system param-
eters.
An offset can be specified for the position after the origin search.
The absolute encoder can also execute origin search.
By means of inputs to the servo driver, moves a specified axis for a specified travel
distance to perform positioning.
Executes positioning with time specified.
Performs winding operation (traverse control) with two specified axes.
Execute cam operation according to the specified cam table data with reference to
elapse of time.
Executes cam operation according to the specified cam table data with reference to
the position of the specified axis.
Executes link operation according to set conditions with reference to the position of
the specified axis.
Executes synchronous operation at a speed calculated with the speed of the speci-
fied axis and gear ratio.
Executes trailing + synchronous operations with reference to the position of the spec-
ified axis.
Outputs speed commands to the specified axis.
Outputs torque commands to the specified axis.
Trapezoidal or S-shape
60000ms max.
30000ms max.
Specifications
Section 1-5
13