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Stopover Function
Section 6-10
The changed servo parameters and feed rate parameters go into effect imme-
diately after G69 is executed.
6-10 Stopover Function
Overview
Mode:
Automatic;
Method:
G language (G00, G01, etc.)
The stopover function outputs an M code or D code, without stopping axis
operation, when the axis has travelled for a specified distance (determined by
encoder feedback present position). Before the operation is completed, tact
time can be improved by using this function to control peripheral devices.
This function can be applied to G codes for all operations. Either D codes or M
codes can be used, but not both.
Monitoring for the stopover function is performed in the command direction
when movement is started. Specify the stopover function only for a moving
axis. If a version-1 Unit is used, an M code out of range error (0025) will occur
if the travel amount is 0.
Case 1:
N010 G01 X100 F200 D100/X50
In this case, D code 100 is output when the X axis is moved
by 50 mm in the direction of the specified position.
Case 2:
N010 G01 X200 F200 M600/X100
In this case, M code 600 is output when the X axis is moved
by 100 mm in the direction of the specified position.
Case 3:
N010 G01 X100 F200 M700 D30
In this case, D30 and M700 are output when block N010 is
completed (i.e., when the X axis is moved by 200 mm).
Sets the position loop feed forward gain to 50%.
Increases locus accuracy by enabling position loop feed forward
gain when circular interpolation is executed.
Returns the position loop feed forward gain to 0%.
Locus accuracy is increased by enabling position loop feed forward
gain when circular interpolation is executed.
Feed forward gain: 0%
Feed forward gain: 50%
Actual locus
Target locus
Improved
N010 G01 X0 Y100 F100
N020 G69 #6/X50
N030 G02 X100 Y100 I50 J0 F200
N040 G02 X200 Y100 I50 J0 F300
N050 G69 #5/X0
N060 G01 X
−
100 Y
−
200 F100
Summary of Contents for CS1W-MC221 -
Page 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Page 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
Page 3: ...iv ...
Page 5: ...vi ...
Page 11: ...xii ...
Page 15: ...xvi ...
Page 19: ...xx ...
Page 27: ...xxviii Conformance to EC Directives 6 ...
Page 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Page 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Page 227: ...200 Command Area Section 3 6 ...
Page 351: ...324 Interface Specifics Section 5 4 ...
Page 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Page 575: ...548 Error Log Section 12 6 ...
Page 589: ...562 Performance Appendix A ...
Page 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Page 683: ...656 Origin Search Patterns Appendix F ...
Page 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...