Omron CS1W-MCH71 -, Operation Manual

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267
Basic Information
Section 6-1
Simultaneous Commands
(Overlap) to the Same One
Axis The operations when several commands are executed simultaneously on the
same one axis are as follows:
MOVEI: Interrupt feeding P5AA08:
External input
signal select 1 @@%%$$##h
## (MOVEI: Interrupt feeding)
$$ (MOVELINK: Link operation)
%% (CAMBOX: Electronic cam,
Synchronous)
@@ (SYNC: Trailing Synchroniza-
tion)
0: Phase-C (Z)
1: External input signal 1
2: External input signal 2
3: External input signal 3
MOVELINK: Link operation
CAMBOX: Electronic Cam,
Synchronous
SYNC: Trailing Synchroniza-
tion
LATCH: Present position latch P5AA09:
External input
signal select 2
000000##h
## (LATCH: Present position latch)
0: Phase Z(C)
1: External input signal 1
2: External input signal 2
3: External input signal 3
Commands Parameters Value: Latch signals
Command executed
simultaneously
Classification Axis movement Axis operation Axis
operation
cancel
Setting
Command currently
being Executed
Function/Name
Po
s
it
io
n
in
g
L
ine
ar i
n
te
rp
ol
at
io
n
Cir
c
u
lar
in
te
rp
o
la
tio
n
O
rig
in
s
ear
ch
In
te
rr
up
t f
eed
ing
Ti
m
e
-s
pec
ifi
ed
po
si
ti
on
in
g
T
ra
ver
s
e
E
lectr
o
n
ic C
A
M
, S
in
g
le
axis
L
ink
op
era
ti
o
n
E
lect
ro
nic
C
A
M
,
Sy
n
c
hron
ou
s
E
lect
ro
nic shaf
t
T
rai
ling
syn
ch
ro
niza
tio
n
T
ra
v
e
l dis
tan
ce su
per
im
po
se
S
p
ee
d
co
nt
ro
l
To
rq
u
e
c
o
n
tr
o
l
T
railin
g
syn
c
h
ro
n
izat
io
n
can
cel
T
ra
vel d
ist
anc
e
su
per
im
pos
e
can
cel
S
p
ee
d co
nt
ro
l can
cel
T
o
rq
u
e
co
ntr
o
l can
cel
T
a
rg
e
t p
o
si
ti
on
cha
n
g
e
P
a
ra
me
te
r v
a
lu
e
c
h
a
n
ge
W
o
rk
p
iece
coo
rd
ina
te sy
stem
OF
FS
E
T
c
h
an
ge
P
re
sent
v
a
lu
e la
tc
h
Class
ifica
tio
n
Function/Name Command Stepping
MO
V
E
MO
V
E
L
MO
V
E
C
DA
T
U
M
MO
V
E
I
MO
V
E
T
MO
V
E
T
R
A
V
CAM
M
O
V
E
L
INK (
M
)
M
O
VEL
INK (
S
)
CAM
BO
X (
M
)
CA
M
B
O
X
(
S
)
CONNECT
(
M
)
CONNECT
(
S
)
SYNC (
M
)
SYN
C
(
S
)
ADD
AX (
M
)
AD
D
A
X (
S
)
SPE
E
D
T
O
RQUE
SY
NCR
ADD
AXR
SPE
E
DR
T
O
RQUER
MO
V
E
M
O
D
I
P
ARAM
OF
F
P
OS
LA
TC
H
Ax
is
m
o
v
e
m
e
n
t
Positioning MOVE E E E E E E E E A E A E A E A E A A D D B B B B A A A A
Linear interpola-
tion MOVEL E E E E E E E E A E A E A E A E A A D D B B B B G A A A
Circular interpola-
tion MOVEC E E E E E E E E A E A E A E A E A A D D B B B B B A A A
Origin search DATUM E E E E E E E E C E C E A E C E A A D D B B B B B A A C
Interrupt feeding MOVEI E E E E E E E E C E C E A E C E A A D D B B B B B A A C
Time-specified
positioning MOVET E E E E E E E E A E A E A E A E A A D D B B B B B A A A
Traverse MOVETRAV E E E E E E E E A E A E A E A E A A D D B B B B B A A A
Electronic CAM,
Single axis CAM E E E E E E E E A E A E A E A E A A D D B B B B B A A A