Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 428

Interface Specifics
Status Condition
Note
• In [Start Mode] = 1, the operation at resuming an interrupted program var-
ies depending on the command being executed as shown below:
Command
MOVE/MOVEL/MOVEC/
MOVEI/MOVET
MOVETRAV/MOVELINK/
CAMBOX (1 cycle)
DATUM/CAM
Name
Motion Program 0: Motion task is not executing program operation.
Operating
1: Motion task is executing program operation (turned OFF
after deceleration or block stop completion).
Motion Program 0: When program operation is started
Operation Com-
1: END command was executed
pleted
Executing Motion Outputs the program number of the program currently being
Program Number executed with motion task or temporarily being stopped.
Executing Motion • Outputs the block number of the single execution command
Block Number currently being executed with motion task, or temporarily
(Single execution being stopped.
command)
• During execution of parallel branching, the block number of
the leftmost block is output.
Executing Motion • Outputs the block number of the multiple execution com-
Block Number mand currently being executed with motion task, or tempo-
(Multiple execution rarily being stopped.
command)
• During execution of parallel branching, the block number of
the leftmost block is output.
• The bit [Motion Program Operating] indicates the execution status of the
motion program. It will be turned ON during program execution, and OFF
when deceleration stop or block stop is completed, or when the operation
is completed with END command execution.
• The bit [Motion Program Operation Completed] indicates the status of
whether the program has been executed to the end or not. It will be turned
ON when the operation is completed with END command execution, and
it will be turned OFF when the next program operation is started.
• [Executing Program Number] indicates the program number of the pro-
gram being executed. It will be updated when a new program execution is
started. If program operation is interrupted or completed, the value imme-
diately before will be held.
• [Executing Motion Block Number (Single execution command)] indicates
the block number of the single execution command currently being exe-
cuted. It will be updated only when a command execution is started. If
program operation is interrupted or completed, the value immediately
before will be held, and updated when execution of the next block is
started in Pass Mode section.
1-shot output may occur. In that case, depending on the Scan Time of the lad-
der program and the Unit Scan Time of the MC Unit, the output may not be
reflected in the ladder program.
Operation
See 7-2-3 Automatic Mode (page 348).
When interrupted midway of a block, resumes to fin-
ish the remaining travel distance. When interrupted
at the end of a block, the entire program will be exe-
cuted from the beginning again.
The entire program is executed again from the begin-
ning regardless of whether it was interrupted midway
or at the end.
Specifications
Section 7-4
405