Omron CS1W-MCH71 -, Operation Manual

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Command Overview
Section 6-2
Commands that can be used in the motion program are listed below:
Classifica-
tion
Command/func-
tion name
Code Applicable
task
Summary Completion condi-
tion (Proceed to
next block)
Motion
Axis move-
ment POSITIONING MOVE @ S Moves each axis independently. In-position
LINEAR INTERPO-
LATION MOVEL @ S Moves axes with linear interpola-
tion. Travel distance out-
put completed.
CIRCULAR INTER-
POLATION MOVEC @ S Moves axes with circular interpo-
lation. Travel distance out-
put completed.
ORIGIN SEARCH DATUM @ S Finds machine origin according
to input signals. In-position
INTERRUPT FEED-
ING MOVEI @ S Changes target position by
means of input signals. In-position
TIME-SPECIFIED
POSITIONING MOVET @ S Performs positioning with speci-
fied time period. In-position
TRAVERSE MOVETRAV @ S Executes winding (traverse)
function of winder. Travel distance out-
put completed.
ELECTRONIC CAM,
SINGLE AXIS CAM @ S Executes cam operation accord-
ing to cam table. In-position
Axis opera-
tion LINK OPERATION MOVELINK @ S Synchronizes the slave to the
master based on travel distance
of the master in acceleration and
deceleration. Depends on the link
option.
ELECTRONIC CAM,
SYNCHRONOUS CAMBOX @ S Executes cam operation accord-
ing to cam table and master axis. Depends on the link
option.
ELECTRONIC
SHAFT CONNECT @ S Synchronizes the slave to the
master in a fixed ratio to the
master axis. Synchronization
established.
TRAILING SYN-
CHRONIZATION SYNC @ S Executes tr synchronizes
the slave to the master axis. Synchronization
established.
TRAVEL DISTANCE
SUPERIMPOSE ADDAX @ S Superimposes travel distance
between axes. Synchronization
established.
SPEED CONTROL SPEED @ S Outputs speed commands. Specified speed
reached.
TORQUE CON-
TROL TORQUE @ S Outputs torque commands. Specified torque
reached.
Axis opera-
tion cancel SYNCHRONIZING
END SYNCR @ S Cancels MOVELINK, CAMBOX,
CONNECT, or SYNC. In-position
TRAVEL AMOUNT
SUPERIMPOSE
CANCEL ADDAXR @ S Cancels travel distance superim-
pose. Synchronization can-
celled.
SPEED CONTROL
CANCEL SPEEDR @ S Cancels speed control Switch to position
control mode com-
pleted
TORQUE CON-
TROL CANCEL TORQUER @ S Cancels torque control Switch to position
control mode com-
pleted