Omron CS1W-213 - REV 02-2008, Operation Manual

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Outline Section 7-1
7-1 Outline
Position control is carried out by setting positions, speeds, and acceleration/
deceleration times each time in the operating data area specified by the com-
mon parameters.
The positions and speeds set in the operating data area by the MOVL instruc-
tion are output to the Position Control Unit (PCU) automatically at I/O refresh
time. Data transfer is not required.
Start is executed by the ABSOLUTE MOVEMENT command (for the X axis:
word n, bit 03) allocated to the operating memory area (in the CIO 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 MOVE-
MENT command, a present position unknown error (error code 5040) will
be generated 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.
(See note 1.)
Operating data area
Position (rightmost word)
Position (leftmost word)
Speed (rightmost word)
Output at I/O refresh time
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
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 PCU's unit number was set.
Speed
CW position
(1)
(2)
1. Set the data in the operating data area.
2. Start operation using the operating memory area.
Status
Input at I/O refresh time
Speed (leftmost word)
Acceleration time (rightmost word)
Acceleration time (leftmost word)
Deceleration time (rightmost word)
Deceleration time (leftmost word)
Present position (rightmost word)
Present position (leftmost word)
Operating memory area
PCU
CIO Area
Status
CPU Unit