Omron CS1W-MC221 -, Operation Manual

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Overview of G-language Programs in the MC Unit Section 1-7
Note The same program number cannot be used for different tasks.
1-7-2 Manual and Automatic Operation
Each task of the MC Unit can be executed either in Manual or Automatic
Mode. In the Automatic mode, MC programs created in the G language are
executed. In the Manual mode, manual commands from the CPU Unit or the
Teaching Box are executed.
The PLC interface area is used for executing the commands in the Manual
Mode or the MC program in the Automatic Mode.
There are 11 manual commands, including the deceleration stop, origin
search, reference origin return, and jogging commands, etc. For detail on
using these commands, refer to
5-2 Controlling the MC Unit from the CPU
Unit .
Manual Commands (from
the CPU Unit)
3 33 programs/task ---
4 25 programs/task ---
Number of tasks Maximum number of
programs (CS1W-MC421)
Maximum number of
programs (CS1W-MC221)
Automatic Mode
Operation
command
Manual
command
MC program to be executed in the Automatic Mode
MC Unit
G language
Teaching Box
Manual Mode
Automatic Mode
Operation
commands
Manual
commands
PLC
N000 P001 XY
N001 G26 XY
N094 G79
Command Description
DECELERATION STOP Decelerates and stops a moving axis.
ORIGIN RETURN For determining origins of mechanical system
when using an INC encoder.
REFERENCE ORIGIN RETURN For returning to the reference origin.
JOG For moving the axis at a fixed feed rate.
RESET ERROR COUNTER Resets the error counter (accumulated pulses)
to 0.
FORCED ORIGIN Forcibly sets the motor’s current stop position to
0, and establishes it as the origin.
SET ABSOLUTE ORIGIN Sets the present position as the origin for the
absolute encoder.
ENABLE MPG Takes input pulses from the MPG and executes
MPG operation.
SERVO-LOCK Places the axis in servo-lock status.
SERVO-UNLOCK Places the axis in servo-unlock status.
PRESET PRESENT POSITION Sets the present position to any given value.