Omron CS1W-MCH71 -, Operation Manual

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Basic Information
Section 6-1
Timing of Bank Switching
In principle, bank switching is enabled when the block after bank switching is
executed.
Overview of Bank Switching
Acceleration/deceleration time bank switching is specified in the motion pro-
gram and not the ladder program.
When system parameter P00004 bit 13 is set to 1 (selects banks for accelera-
tion/deceleration times separately), four patterns of operation images (one for
each setting of P00M06) are possible.
Stop Mode (P00106 = 0: Acceleration Time Specification)
Enabled when the block after parameter change is executed.
Program Example:
Set P00M11 to P00M15 and P00M16 to P00M20 beforehand.
Execution with PROG P0001 Q0001; motion task 1 (P00106 = 0: acceler-
ation time specification)
STOPMODE;
#IW0A00=0; Acceleration bank 0 specification
#IW0A08=0; Deceleration bank 0 specification
DATUM [J01]0 [J02]0;
ABL MOVEL [J01]100000 F1000000;
WAIT #SL0204 > 20000; Command position exceeds 20000
#IW0A00=1; Acceleration bank 1 specification
#IW0A08=1; Deceleration bank 1 specification
ABL MOVEL [J01]0 F1000000;
WAIT #SL0204 < 80000; Command position exceeds 80000
#IW0A00=2; Acceleration bank 2 specification
#IW0A08=2; Deceleration bank 2 specification
ABL MOVEL [J01]100000 F1000000;
END;
3 Interpolation deceleration
time + Pass mode with fixed
acceleration enabled Pass Mode Value set for
P00M02 Bank selection Acceleration time
bank selection Deceleration time
bank selection
Stop Mode Value set for
P00M02 Bank selection Acceleration time
bank selection Deceleration time
bank selection
Value of P00M06 Operating
mode
P00004.13 = 0 P00004.13 = 1
Acceleration
time
Deceleration
time
Acceleration time Deceleration time
Operating mode Valid timing
Not in pass operation during pass mode
or stop mode Enabled when the block after switching is
executed.
Acceleration and deceleration time is
specified in pass operation Enabled when the block executed after
switching begins to decelerate.
Fixed acceleration in pass operation Enabled when the block after switching is
executed.