Omron CS1W-NC113 - REV 02-2008, Manual

Page: 219 / 350

9-3 Section Interrupt Feeding
209
9-3 Interrupt Feeding
This section describes the interrupt feeding operation and the data needed for
performing it.
9-3-1 Outline of Operation
Interrupt feeding is a positioning operation that moves the axis by a specified
amount from the position at which the external interrupt signal (A19/B19) was
input, either in the same direction as the direction of travel or in the opposite
direction. It can be started from either from memory operation or from direct
operation. The present position will be set to “0” if an interrupt input signal is input
when the origin is not fixed.
Moving by a specified amount in the
direction of travel
Moving by a specified amount in the
opposite direction
Speed
Target speed
Interrupt input
signal
Speed
control
Acce
le
ra
tio
n
Position control
(movement by
a specified
amount)
Speed
Deceleration
CW
position
Acce
le
ra
tio
n Target speed
Interrupt input signal
Speed
control
Deceleration
Position control
(movement by a
specified amount)
CW
position
Note There will be no acceleration or deceleration if there is a reversal as a result of an
interrupt input signal for a movement opposite to the direction of travel.
9-3-2 Procedure for Memory Operation
With memory operation, the positioning sequence completion code is set to
interrupt feeding (5 or 6) and then this sequence number is started and the inter-
rupt input signal is awaited.
1, 2, 3... 1. Set the positioning sequence completion code to 5 (interrupt feeding in
direction of travel) or 6 (interrupt feeding in opposite direction) and write it to
the PCU.
2. In the positioning sequence, set the speed data number and acceleration/
deceleration time number, and set the amount of movement for the interrupt
feeding in the position with the same number as the positioning sequence.
The sign for the position will then become the pulse direction for speed con-
trol. The direction will become CW if it is positive and CCW if it is negative.
3. Execute START or INDEPENDENT START for the sequence number set in
(1) above.
4. When an interrupt signal is input externally, interrupt feeding will be
executed.
9-3-3 Procedure for Direct Operation
When the Interrupt Feeding Bit is turned ON, positioning is started with speed
control and an interrupt input signal is awaited.
1, 2, 3... 1. Set the operating data area using the parameters.
2. Set the amount of interrupt feeding movement (position, speed, accelera-
tion/deceleration time number) in the operating data area. The sign of the
position at this point becomes the direction of travel after the input of the
interrupt signal. “+” means interrupt feeding in the direction of travel, while
“--” means interrupt feeding in the opposite direction.