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

Page: 231 / 406

204
Positioning Sequences Section 8-4
8-3-3 Operating Memory Area
Note The Busy Flag will turn ON at the following times during memory operation:
• During pulse output
• While waiting for the dwell time to elapse
• While waiting for positioning completed status to be confirmed
• During linear interpolation
8-3-4 Operating Data Area
Note 1. When positioning is executed with positions designated as absolute, a
present position unknown error (error code 5040) will be generated if the
origin has not been established.
2. If the software limit function set with the axis parameters is disabled (CW
limit equal to or less than CCW limit), and if the designation is made while
the origin is established (No Origin Flag OFF), positioning will be carried
out by a relative amount, even with absolute position data. (At the start of
operation, present position is set to “0.”)
8-4 Positioning Sequences
This section explains in detail the format and settings of positioning
sequences. Positioning sequences are designated from the CPU Unit when
memory operation is started, and they set data required for positioning, such
as the target speed number, acceleration/deceleration number, and so on.
Note With previous PCUs, data such as the target speed, acceleration/deceleration
time, and so on, was set for “positioning actions,” which were the basic unit of
positioning. With this PCU, however, position data is set independently. These
PCUs are designed so that the position number used is the same as the num-
Item Model Operating memory area Bits Contents
X axis Y axis Z axis U axis
START NC413
NC213
NC113
n
n
n
n+2
n+2
n+4 n+6 01
INDEPENDENT
START 02
Sequence Number
Enable 00 1: Enable, 0: disable
Waiting For Memory
Operation NC413
NC213
NC113
n+8
n+4
n+2
n+11
n+7
n+14 n+17 04 1: Waiting for memory operation
0: Other than above
Positioning Com-
pleted Flag 05
Busy Flag 13 1: Busy (See note)
: Start begins
: Independent start begins
: Positioning operation completed
: When starting
Item Model Operating memory area Bits Contents
X axis Y axis Z axis U axis
Sequence number NC413
NC213
NC113
I+16
I+16
I+16
I+28
I+28
I+40 I+52 00 to
15 Specifies the sequence number in hexadec-
imal.
Output code NC413
NC213
NC113
I+59
I+35
I+23
I+63
I+39
I+67 I+71 00 to
15 The output code (0 to F) set in the position-
ing sequence is output in hexadecimal.