Omron CS1W-MCH71 -, Operation Manual

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Basic Information
Section 6-1
6-1-4 Program System
This section explains the program of the MC Unit.
• Programs are composed of the motion task main programs and motion
task sub-programs.
• A program can contain up to 800 blocks.
• A block contains a command, a semi-colon, and a comment (this may be
omitted).
• An NSTOP command, and an ABL/INC command, can be added at the
beginning of a block.
6-1-5 Axis Movement Operation
Acceleration/Deceleration
Pattern • Setting acceleration/deceleration patterns with the following system
parameters makes it possible to select symmetrical/asymmetrical acceler-
ation/deceleration patterns.
• Acceleration/deceleration time cannot be changed during axis movement.
Motion task main programs
(Program numbers 0-499)
Motion task sub-programs
(Program numbers 500-999)
Block
2
≤
N
≤
800
Command
Comment
;
NSTOP ABL
INC
Command
Comment
;
No. Name Usage
P00M02 Interpolation feed
acceleration time Motion commands:
MOVEL/MOVEC/MOVETRAV
(Operand F sets the speed.)
P00M03 Interpolation feed
deceleration time
P2AA05 Rapid feed accelera-
tion time Motion commands:
MOVE/MOVEI/DATUM/MOVET
(Factors other than Operand F (parameters,
etc.) set the speed)
P2AA06 Rapid feed decelera-
tion time