Omron Sysmac CP1H, Operation Manual

Page: 284 / 810

250
Pulse Outputs Section 5-3
Operations Affecting the Origin Status (Established/Not Established Status)
The following table shows the operations that can affect the origin status (ori-
gin established or no-origin), such as changing the operating mode and exe-
cuting certain instructions.
The No-origin Flag will be ON when the corresponding pulse output's origin is
not established and OFF when the origin is established.
Absolute pulse
specification The absolute pulse specification cannot be
used when the origin location is undetermined,
i.e., when the system is operating in the relative
coordinate system. An instruction execution
error will occur. Positions the system to an absolute position rel-
ative to the origin.
The number of movement pulses and move-
ment direction are calculated automatically from
the current position (pulse output PV) and target
position.
The following example shows the number of
pulses setting = +100.
Number of movement pulses = Number of
pulses setting - Pulse output PV when instruc-
tion is executed
The movement direction is determined automat-
ically.
Pulse output PV when instruction is executed =
Number of pulses setting
Pulse output PV range:
80000000 to 7FFFFFFF hex
Number of pulses setting range:
80000000 to 7FFFFFFF hex
Pulse output
specified in
PULS(886) or
PLS2(887
Coordinate system
Relative coordinate system Absolute coordinate system
Origin not established:
The No-origin Flag will be ON in this case.
Origin established:
The No-origin Flag will be OFF in this case.
+100
+200
0
Number of pulses
setting
II
Number of
movement pulses
Target
position =
number of
pulses
setting
Current
position
Pulse
output PV
Origin
Current status PROGRAM mode RUN mode or MONITOR
mode
Operation Origin
established
Origin not
established
Origin
established
Origin not
established
Operat-
ing mode
change Switch to
RUN or
MONITOR Status
changes to
“Origin not
established.” “Origin not
established”
status contin-
ues. --- ---
Switch to
PROGRAM --- --- “Origin
established”
status contin-
ues. “Origin not
established”
status contin-
ues.