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

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Timing Chart for Memory Operation Section 8-8
Note If START is turned from OFF to ON when the Sequence Number Enable Bit is
OFF after a power-up or a restart, the sequence number error (error code
8101) will be generated.
When START is re-executed while the Sequence Number Enable Bit is OFF,
the sequence numbers executed will be the same as those for INDEPEN-
DENT START.
8-8-5 Timing of Data Changes during Memory Operation
It is possible to change positioning sequences and the data used in position-
ing sequences, such as speeds, positions, and acceleration times, during
memory operation. When performing positioning with the completion code set
to continuous, however, there will be a delay in the timing with which data
changes are reflected in operation.
When positioning sequences with completion codes set to continuous are
being executed continuously, the PCU reads up to 3 positioning sequences at
the start of memory operation. This means that if changes to data for a posi-
tioning sequence are not made during execution of the positioning sequence
at least 3 sequences before, these changes will not be reflected in operation.
Speed
Output pulses
Time
0000 Hex (0)
0000 Hex
(0)
0001 Hex
(0)
0002 Hex
(2)
0004 Hex
(4)
0002 Hex
(2)
0001 Hex
(0)
0000 Hex
(0)
0003 Hex
(3)
Sequence
#0
Sequence number
(word I+58, bit 00 to 15)
Waiting For Memory
Operation Flag
(word n+8, bit 04)
Busy Flag
(word n+8, bit 13)
Positioning Completed Flag
(word n+8, bit 05)
START
(word n, bit 01)
Sequence Number
Enable
(word n, bit 00)
Sequence number
(word n+16, bit 00 to 15)
Sequence
#1
Sequence
#2
Sequence
#3
Sequence
#4
Sequence
#0
Sequence
#1