Omron CS1W-MCH71 -, Operation Manual

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Basic Information
Section 6-1
A command of the next block can be executed during S-curve deceleration.
However, if the command is to be executed after completion of the previous
command's output (as it should be for CAM, etc.), STOPMODE or PASS-
MODE command can be used to control the execution.
When MOVEL
→
MOVE command was executed in Pass Mode:
Program example:
PROG P0001 Q00000001;
PASSMODE;
INC MOVEL [J01] 10000 F100000; Interpolation feed S-curve filter enable
INC MOVE [J01] 10000; Rapid feed S-curve filter disable
END;
When MOVEL
→
MOVE command was executed in Stop Mode:
Program example:
PROG P0001 Q00000001;
STOPMODE;
INC MOVEL [J01] 10000 F100000;
INC MOVE [J01] 10000;
END;
6-1-6 Synchronous Command
There are five different types of synchronous commands.
• MOVELINK: Link operation start
• CAMBOX: Electronic cam, synchronous
• CONNECT: Electronic shaft
• SYNC: Trailing synchronization
• ADDAX: Travel distance superimpose
Master Axis • Any MC Unit axis can be used as a master axis. Axis declaration by
PROG command (program start) is not required for the axes to be used
only as master axes.
0
Trapezoidal Waveform
S-curve Waveform
Speed
Time
0
Speed
Trapezoidal Waveform
S-curve Waveform
Time