Omron CS1W-MC221 -, Operation Manual

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G-language Commands Section 7-3
The actual settings in the system parameters are not changed by G69.
System parameters will be initialized when the main program is executed
starting from the beginning. If a position data address or register is specified
and the specified data is not an integer, then the value will be rounded off to
the nearest integer. A number range over error will occur if the specified data
is not within the allowable range.
The following is supplemental information for each of the parameters.
<Acceleration time, deceleration time, interpolation acceleration time, interpo-
lation deceleration time>
When the operating mode is Stop Mode or In-position Check OFF Mode, the
new acceleration/deceleration time will be reflected in the next operation.
When the operating mode is Pass Mode and the interpolation acceleration/
deceleration time is changed during linear or circular interpolation, the new
interpolation acceleration/deceleration time will go into effect between G01,
G02, G03, and G32 commands following the G69 command.
<Position loop gain, position loop feed forward gain, in-position, error counter
warning>
In Stop Mode, these values will go into effect with the next G69 command. In
In-position Check OFF Mode, these values will go into effect with the next
G69 command if an axis operation is not in progress and at the end of the
operation command before the G69 command if an axis operation is in
progress.
Values changed with G69 are enabled only during program operation. The
system parameters will be returned when the Program Execution Flag is OFF.
Programming Example In this programming example, the interpolation acceleration time is changed
during interpolation.
: :
N009 G01 X200 Y300
N010 G69 #3/X100
N011 G01 X300 Y500
N012 G01 X500 Y800
: :
#4 Interpolation deceleration time 0 to 100,000 (ms)
#5 Position loop gain 1 to 250 (rad/s)
#6 Position loop feed forward gain 0 to 100 (%)
#7 In-position 0 to 10,000 (pulses)
#8 Error counter warning 0 to 65,000 (pulses)
Parameter type Parameter Setting range
The new interpolation acceleration time
goes into effect between the next two
G01 commands after the G69 com-
mand.