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89
6-3
Command Processing
The various commands have the following processing conditions.
Command
Processing condition
Other conditions
END
NOP, OUT
XOVR, YOVR, KIOVR
XEMG, YEMG, IEMG
ERST
When Command Ready flag is ON.
The command is ignored.
XHLD, YHLD, IHLD
XSTP, YSTP, ISTP
While Position Control Unit is operating. The command is ignored.
XREL, YREL, IREL
While XHLD, YHLD, or IHLD is ON.
The command is ignored.
XSRT, YSRT, ISRT
XJOG, YJOG, IJOG
XPLS, YPLS, IPLS
XORG, YORG, IORG
ACLR, CLR, BCLR
STORE, RESTR
READ, MOV
TEACH, DTEACH
CCHG
HSFT
While Position Control Unit is stopped.
Command error occurs.
Start Command Delays
The time required from when a start command is received until a speed volt-
age is output is as follows:
Normally: Approx. 6 ms.
When one axis is started while the other one is moving or when data reads or
other time-consuming processes are being handled: 10 ms.
The following table shows which commands are valid when certain flags are
ON. These are indicated as follows:
∅
Command acknowledged.
X
Command ignored.
⊗
Command error results.
Condition
Command
Posi-
tioning
Stop
Origin
Search
Deceler-
ation
Stop
Jogging
Inching
Pause
Emer-
gency
Stops
Upon
initial-
ization
END
∅
∅
∅
∅
∅
∅
∅
∅
∅
NOP
∅
∅
∅
∅
∅
∅
∅
∅
∅
ERST
∅
∅
∅
∅
∅
∅
∅
∅
∅
OUT
∅
∅
∅
∅
∅
∅
∅
∅
∅
SRT
⊗
∅
⊗
⊗
⊗
⊗
⊗
X
⊗
STP
∅
X
∅
∅
∅
∅
∅
*
1
X
X
JOG
⊗
∅
⊗
⊗
⊗
⊗
⊗
X
∅
PLS
⊗
∅
⊗
⊗
⊗
⊗
⊗
X
∅
ORG
⊗
∅
⊗
⊗
⊗
⊗
⊗
X
∅
OVR
∅
∅
*
2
∅
∅
*
2
∅
∅
*
2
∅
*
2
∅
*
2
∅
*
2
HLD
∅
X
∅
∅
∅
X
∅
X
X
Relationship between Flags
and Commands
Command Processing
Section 6-3