Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 378

Operating Mode
Ladder Program Example
and Timing Chart
Ladder program
Automatic/Manual
mode switch
X+32.15 X+33.15
Axis 1, Axis 2,
Automatic Mode Automatic Mode
X+32.03 X+33.03
Axis 1, In Axis 2, In
Servo lock Servo lock
X+32.13 X+33.13
Axis 1 Command Axis 2 Command
enabled enabled
Start Mode
Switch
Pause button
Program number
Setting button
Start button
n+4.01 n+17.01
Motion program
operating
Note
Ladder program example and timing chart for the program operation with axis
movement (including deceleration stop) are shown below.
In this example, Axes 1 and 2 are operated with motion task 1 and the Motion
task 1 Control bit [Deceleration stop] is used for stopping.
In the timing chart, Axes 1 and 2 are operated and they are stopped with
deceleration stop in midway. After that, the operation is resumed in Start
Mode 1 (Program execution is executed continuously from midway of the
block indicated by the Executing Motion Block Number).
R1 R2 R3
In In Servo Command
Automatic lock enabled
operation
When executing axis movement commands in a motion program, it is required
to execute Servo lock for all the applicable axes (the bit [In Servo Lock] is ON),
and to set the operating mode to Automatic Mode (the bit [In Manual/Auto-
matic mode] is ON). Therefore, make sure to insert the conditions R1 and R2
of the above ladder program.
x+0.15 (Axis 1, Manual/Automatic mode)
x+1.15 (Axis 2, Manual/Automatic mode)
R1 (In Automatic operation)
R2 (In Servo lock status)
R3 (Command enabled)
n+4.02 (Start mode 1)
n+4.04 (Deceleration stop)
(Program number setting)
MOV
#0001
M+22
n+12.00
n+4.01 (Motion program start)
Alarm
occurring
Section 7-2
355