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Interface Specifics
Section 7-4
Stop in Speed or Torque control mode:
Function
• Single block operation mode is used for debugging purpose, etc. to exe-
cute the motion program block by block.
• [Block Stop] and [Single Block Operation Mode] are similar from the view-
point that the operation is stopped at the end of the block, however, follow-
ing differences can be observed between them:
1
PROG P100 Q00000003;
2
SPEED [J01]1000 T 100;
3
MOVEL [J02]1000;
4
END;
3
1
0
1
0
T1
Tu
1
0
0
Program to be executed
Row No.
[J01] speed
The bit [Deceleration Stop] is turned ON
after starting execution of this block.
Time
Speed control
Position control
Motion Task Control Bit:
Block Stop
Motion Task Status Bit:
Motion Program Operating
Motion Task Status Bit:
Motion Program
Operation Completed
Motion Task Status Data:
Executing Motion Block
Number (Single execution
command)
Control Mode
Word
Variable
Bit
Name
I/O
n+4
-
n+11
IW0340
-
IW0347
06
Single Block Operation Mode (Task 1)
-
Single Block Operation Mode (Task 8)
Output
Item
Block Stop
Single Block Operation
Purpose
Used to stop the motion program.
Used to debug the motion program.
Influence when starting
execution
Motion program execution cannot be started
while the bit [Block Stop] is ON.
Motion program execution can be started
while the bit [Single Block Operation Mode] is
ON.
Detection
Edge detection
Level detection
NSTOP command
Operation stops not being affected by NSTOP. Operation does not stop being affected by
NSTOP.
Summary of Contents for CS1W-MCH71 -
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Page 69: ...24 Performance Section 1 7 ...
Page 99: ...54 Connecting MECHATROLINK Devices Section 3 5 ...
Page 283: ...238 Saving Data Section 5 4 ...
Page 417: ...372 Command Details Section 6 3 ...