Omron SYSMAC C500-NC113, Operation Manual

Page: 102 / 250

6-4 Section
+*
6-4 Examples of Command Execution Conditions
Examples of execution conditions for the various commands are shown below.
After all of the command data for a particular command has been set, the Intelli-
gent I/O Write command (WRIT) is used to transfer all the data together to the
Position Control Unit.
Note In the example ladder program diagrams shown here, WRIT is executed after
the command data for each individual command has been set, but in an actual
program WRIT would be executed after the data for all of the commands has
been set.
6-4-1 START
First confirm that the Busy Flag has been turned OFF, and then turn ON the
START command bit. Leave the START command bit ON until the Start Com-
pleted Flag turns ON.
Program Example Timing Chart
START condition
Busy Flag
(Word s+0, bit 07)
Start Completed Flag
(Word s+6, bit 00)
START command bit
START
condition
START
(Word
m+1,
bit 00)
Command
transfer
1 cycle
Command
cleared
START
(Word m+1,
bit 00)
Start Completed
Flag (Word s+6,
bit 00)
Busy Flag
(Word s+0,
bit 07)
Pulse
output
B
A
DIFU A
WRIT
B
B
Note When positioning with just a small amount of movement is executed, the Busy
Flag may turn OFF before the Start Completed Flag turns OFF.
6-4-2 ORIGIN SEARCH
First confirm that the Busy Flag has been turned OFF, and then turn ON the ORI-
GIN SEARCH command bit. Leave the ORIGIN SEARCH command bit ON until
the Origin Search Completed Flag turns ON.
Note The ladder program example is similar to that for START.
6-4-3 ORIGIN RETURN
First confirm that the Busy Flag has been turned OFF, and then turn ON the ORI-
GIN RETURN command bit. Leave the ORIGIN RETURN command bit ON until
the Origin Reset Flag turns ON.
Note The ladder program example is similar to that for START.
6-4-4 RELEASE PROHIBIT
First confirm that the Busy Flag has been turned OFF, and then turn ON the RE-
LEASE PROHIBIT command bit. Leave the START command bit ON until the
Pulse Output Enabled Flag turns ON.
Note The ladder program example is similar to that for START.