Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Direct Operation Timing Charts Section 7-5
7-4-5 Starting Direct Operation During Memory Operation
Direct operation can be used even during memory operation, by bringing the
active axis to a decelerated stop. The interrupted sequence number will be
retained as long as new sequence numbers are not set and provided an origin
search or an origin return is not executed, or the present position is reset.
When memory operation is restarted, the interrupted sequence number will
be executed. Positioning in memory operation after direct operation has been
used will vary according to the absolute and relative positions in the position
data.
7-5 Direct Operation Timing Charts
This section provides timing charts showing ABSOLUTE MOVEMENT com-
mand and RELATIVE MOVEMENT command execution. The X axis is used
as an example.
Timing Charts
Example 1: Moving to absolute position at 10,000 pulses
Absolute Movement Memory Operation Relative Movement Memory Operation
Movements from P0 to P1 to P2 to P3 to P0
are all executed with absolute position data.
While moving from P2 to P3, stop with a
deceleration stop and move to P4 in a
direct operation.
Movements from P0 to P1 to P2 to P3 to P0
are all executed with relative position data.
While moving from P2 to P3, stop with a
deceleration stop and move to P4 in a direct
operation.
When memory operation is re-started, the
movements are from P4 to P3' to P0'. When memory operation is re-started, the
movements are from P4 to P3 to P0.
This distance same
as P2 to P3
This distance same
as P3 to P0
Position (I+8, I+9)
Speed (I+10, I+11)
ABSOLUTE
MOVEMENT
(word n, bit 03)
Pulse output
Speed
Time
Positioning Completed
Flag (word n+8, bit 05)
Busy Flag
(word n+8, bit 13)
2710 Hex (10000)
3E8 Hex (1000)