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

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Deceleration Stop Section 9-5
9-4-3 Timing Chart
In the following timing chart, the completion codes for the various positioning
sequence are as shown below, using X-axis operation for a 4-axis PCU as an
example.
Sequence #10 and Sequence #20: Continuous
Sequence #11 and Sequence #21: Bank end
The example shows how to execute a forced interrupt for sequence #20 while
sequences #10 to #11 are being executed.
9-5 Deceleration Stop
The STOP command brings an active axis to a decelerated stop.
9-5-1 Outline of Operation
The deceleration stop operation is executed when the STOP Bit is turned ON.
When a deceleration stop is executed during memory operation, the stop
occurs with a deceleration time that can be calculated from the deceleration
time set for the positioning sequence (see
8-9 Acceleration/Deceleration ).
When a deceleration stop is executed at any other time, the stop occurs with a
deceleration time that can be calculated from the deceleration time set in the
operating memory area (see
7-6 Acceleration/Deceleration ).
Sequence number
(n+16)
Sequence Number
Enable
(word n, bit 00)
START
(word n, bit 01)
FORCED
INTERRUPT
(word n+1, bit 08)
Speed
Pulse output
Positioning Completed
Flag (word n+8, bit 05)
Busy Flag
(word n+8, bit 13)
Waiting for memory
operation
(word n+8, bit 04)
Sequence number
(word I+58)
Sequence
#10
Sequence #11
Sequence
#20
Sequence #21
Time
000A Hex (10) 0014 Hex (20)
000A Hex (10)
000B Hex
(11)
0014 Hex (20) 0015 Hex
(21)
000A Hex (10)