Omron CS1W-MCH71 -, Operation Manual

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314
Command Details
Section 6-3
• If either the global variable or position data is used for CAM table, phase
and displacement are to be specified as double-length integer type data.
• If a minus sign is added to the CAM table number, the CAM data is read
tracing the data numbers in the reverse order.
• The range of Displacement data multiplier is from
−
200.00 to 200.0%
(0.01% unit, limited to the values that can be obtained from the internal
processing).
• When "0" is specified in Displacement data multiplier, the operation pro-
ceeds to the next block without any axis movement after Execution time
specified in T elapses.
• If Starting data number specification is omitted, the starting data number
will be 0.
• If Ending data number specification is omitted, the ending data number is
the greatest data number in that table.
• If the specifications of [Starting data number] = [Ending data number] are
made, the alarm [200Ch: Number specification error] will occur.
• The CAM operation from the starting position to the ending position is
executed within the execution time specified in T (Execution time).
• When either of the following conditions is met, the phase will return to 0
(i.e. to the beginning or end of the table) and data is read.
Note that this operation is executed only when the CAM data is used as the
CAM table. If the specifications described above are made when the global
general variable or position data is used as the CAM table, the alarm
[200Ch: Number specification error] will occur.
• The data reading period is to be one cycle or less.
• The word "Displacement" means the increased value from the CAM com-
mand start point.
Data reading direction Data number
Forward (Starting data number) > (Ending data number)
Reverse (Starting data number) < (Ending data number)
Data No. Phase Displacement
1 0 0
2 500 400
3 1000 1600
4 1500 3600
5 2000 6400
6 2500 10000
MLmmmm PLmmmm
2
1
MLnnnn PLnnnn
1 2
Phase
Starting data number
→
= mmmm
Global general variable
Position data
Displacement
Phase
Displacement
Ending data number
→
= nnnn