Omron CS1W-NC113 - REV 02-2008, Manual

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7-1 Section Outline
158
7-1 Outline
Position control is carried out by setting positions, speeds, and acceleration/de-
celeration times each time in the operating data area specified by the common
parameters.
(See note 1.)
Operating data area
Position (rightmost word)
Position (leftmost word)
Speed (rightmost word)
Output at I/O refresh time
Output at I/O refresh time
Absolute movement (word n, bit 03)
(See note 2.)
Relative movement (word n, bit 04)
Input at I/O refresh time
Note 1. This is the area for NC413.
2. When it is the X axis.
I: Beginning word address of area designated in common parameters.
n:Beginning word address of work bit determined when the PCU’s unit number was set.
Speed
CW position
(1)
(2)
1. Set the data in the operating data area.
2. Start operation using the operating memory area.
Status
Input at I/O refresh time
Speed (leftmost word)
Acceleration time (rightmost word)
Acceleration time (leftmost word)
Deceleration time (rightmost word)
Deceleration time (leftmost word)
Present position (rightmost word)
Present position (leftmost word)
Operating memory area
PCU
CIO Area
Status
The positions and speeds set in the operating data area by the MOVL instruction
are output to the Position Control Unit (PCU) automatically at I/O refresh time.
Data transfer is not required.
Start is executed by the ABSOLUTE MOVEMENT command (for the X axis:
word n, bit 03) allocated to the operating memory area (in the CIO Area) or when
the RELATIVE MOVEMENT command (for the X axis: word n, bit 04) is turned
ON.
•
The ABSOLUTE MOVEMENT command determines the position from the
absolute position in relation to the origin. With the ABSOLUTE MOVEMENT
command, a present position unknown error (error code 5040) will be gener-
ated if the origin has not been established.
•
With the RELATIVE MOVEMENT command, position control is based on the
amount of relative movement from the present position. Relative movement