Omron C200HW, Operation Manual

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7-1 Section Outline
139
With direct operation, position control is carried out by setting positions, speeds,
and acceleration/deceleration times each time in the operating data area speci-
fied by the common parameters.
(See note 1.)
Operating data area
(1) Set by
MOV, etc.
Position (rightmost word)
Position (leftmost word)
Speed
Override
Acceleration
/deceleration
time number
Output at I/O refresh time
Position Control Unit
Operating memory area
(2) Started by OUT instruction
IR area
Output at I/O refresh time
Absolute movement (word n, bit 03)
(See note 2.)
Relative movement (word n, bit 04)
Input at I/O refresh time
Status
Present position (rightmost
word)
Present position (leftmost
word)
Note 1. This is the area for NC413.
2. When it is the X axis.
I: Beginning word address of area designated in common parameters.
n:Beginning word address of work bit determined when the Position Control Unit’s unit number was set.
Speed
CW position
(1)
(2)
The positions and speeds set in the operating data area by the MOV instruction
are output to the Position Control Unit automatically at I/O refresh time. Data
transfer is not required. Transfer the designated acceleration/deceleration time
number in advance.
Start is executed by the ABSOLUTE MOVEMENT command (for the X axis:
word n, bit 03) allocated to the operating memory area (IR area) or when the
RELATIVE MOVEMENT command (for the X axis: word n, bit 04) is turned ON.
•
The ABSOLUTE MOVEMENT command determines the position from the
absolute position in relation to the origin. With the ABSOLUTE MOVEMENT
command, a present position unknown error (error code 5040) will be gener-
ated if the origin has not been established.
•
With the RELATIVE MOVEMENT command, position control is based on the
amount of relative movement from the present position. Relative movement
moves the axis by a relative amount from the start position. It can be executed
even when the origin has not been established.