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

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Transferring Positioning Sequences Section 8-7
In this example the interpolation speed to point “A” is given as “a,” and the
interpolation speed to point “B” is given as “b.” With a continuous completion
code, the pulse output temporarily stops at point “A” as shown below. The
stop time is approximately 8 ms.
8-7 Transferring Positioning Sequences
When performing memory operation, it is necessary to write memory opera-
tion data (positioning sequences, speeds, positions, acceleration times,
deceleration times, and dwell times) to the PCU’s internal buffer (RAM) in
advance. The data can be written to the PCU using either of the following
methods.
• First, save the memory operation data to the PCU’s flash memory using
CX-Position, and then write this data from the flash memory at startup.
• Save the data to the DM or EM Area of the CPU Unit, and then, using the
data transfer function, transfer this data to the PCU where it is written to
the buffer.
A simple example of the procedure for transferring positioning sequences to
the PCU using the second method is explained here. The same method can
be used for data other than positioning sequences. For further details on
transferring data, refer to
SECTION 5 Transferring and Saving Data .
Interpolation speed
a
b
A B
Time
b
X axis speed
Y axis speed
Temporary pulse stop: Approx. 8 ms
Completion code: Continuous
bsin
θ
2
acos
θ
1
bcos
θ
2
asin
θ
1
bcos
θ
2