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

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Interrupt Feeding Section 9-3
9-3 Interrupt Feeding
This section describes the interrupt feeding operation and the data needed for
performing it.
9-3-1 Outline of Operation
Interrupt feeding is a positioning operation that moves the axis by a specified
amount from the position at which the external interrupt signal was input,
either in the same direction as the direction of travel or in the opposite direc-
tion. It can be started either from memory operation or from direct operation.
The present position will be set to “0” if an interrupt input signal is input when
the origin is not fixed.
Note There will be no acceleration or deceleration if there is a reversal as a result of
an interrupt input signal for a movement opposite to the direction of travel.
The initial speed when operation is started using memory operation is deter-
mined by the settings in the sequence data. The initial speed when operation
is started using direct operation is determined by the settings in the axis
parameters.
9-3-2 Procedure for Memory Operation
With memory operation, the positioning sequence completion code is set to
interrupt feeding (5 or 6) and then this sequence number is started and the
interrupt input signal is awaited.
1,2,3... 1. Set the positioning sequence completion code to 5 (interrupt feeding in di-
rection of travel) or 6 (interrupt feeding in opposite direction) and write it to
the PCU.
2. In the positioning sequence, set the speed data number and acceleration/
deceleration time number, and set the amount of movement for the inter-
rupt feeding in the position with the same number as the positioning se-
quence. The sign for the position will then become the pulse direction for
speed control. The direction will become CW if it is positive and CCW if it
is negative.
3. Execute START or INDEPENDENT START for the sequence number set
in (1) above.
4. When an interrupt signal is input externally, interrupt feeding will be execut-
ed.
Moving by a specified amount in the
direction of travel Moving by a specified amount in the
opposite direction
Speed
Target speed
Interrupt input
signal
Speed
control
Position control
(movement by
a specified
amount)
Speed
Deceleration
CW
position
Target speed
Interrupt input signal
Speed
control
Deceleration
Position control
(movement by a
specified amount)
CW
position
Acceler
ation
Acceler
ation
Initial
speed
Initial
speed