Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 492

Interface Specifics
Commands by program
Axis Control Bit:
Axis Machine Lock
Axis Status Bit:
Axis Machine Lock Status
Axis Status Bit:
Axis Operating
Control mode
Word Variable
x+0 IW0440
- -
x+31 IW045F
Function
Command and Operation
Operation in Speed or Torque Control:
In Speed or Toque Control, it is not guaranteed that the axis will not move
when the command output is stopped. Therefore, the bit [Axis Machine Lock
Status] is not changed (turned ON/OFF). Due to the same reason, while the
bit [Axis Machine Lock Status] is 1 (ON), commands are output not as Speed
or Torque command, but as Position command.
Position Speed/ Torque
command command
Wait
1
0
1
0
1
0
Position Control Speed/Torque control
Bit
15 Manual/Automatic Mode (Axis 1)
-
Manual/Automatic Mode (Axis 32)
With this bit, the operating mode of the axis is switched.
Name
Manual/Automatic
Mode
The status is switched when position command is
being output and the bit [Axis Operating] is 0 (OFF).
Position command
Position Control
Name
Specifications
0: In Manual Mode
1: In Automatic Mode
↑: Decelerates to stop the manual operation being executed
↓: Decelerates to stop the automatic operation being executed
Section 7-4
In Axis machine lock
state, output in position
control is maintained.
Speed/Torque
command
Wait
Position Control
I/O
Output
469