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

Page: 31 / 401

6
Basic Operations Section 1-3
to different positions while positioning is being performed. Linear interpolation,
however, is not possible during direct operation.
Memory Operation With memory operation, positioning sequences (i.e., individual positioning
operations, which include data such as positions and speeds) are transferred
to the PCU in advance, and then positioning is executed from the CPU Unit by
specifying those positioning sequences by number. Depending on the com-
pletion code that is set, positioning sequences can be executed using inde-
pendent positioning, automatic positioning, or continuous positioning. In the
following illustrations, “#0” “#1” “#2” and “#3” indicate positioning sequence
numbers.
Interrupt Feeding When an interrupt input signal is received, positioning is continued for the
specified amount of pulses and then stopped.
Speed
Start
Speed changed
Time
New target position
Target position before
position changed
Position changed
Start
Speed
"#0" "#1" "#2" "#3"
Independent
Positioning Automatic
Positioning Continuous
Positioning
P ecuted in Order
Start
Stop
Start
Pauses for length
of dwell time that
is set. Does not stop.
Time
ositioning Sequences Ex
Time
Interrupt input signal
Specified amount
of pulses
Speed