Autonics AiC-CL Series, Руководство по связи, Страница: 32 / 52

3 Driving operation
34 © Copyright Reserved Autonics Co., Ltd.
3.2.4 Program Mode Operation
The commands stored in each step are operated sequently.
256 steps commands from 0 to 255, can be input through CC-link communication and I/O
control or GUI.
If ‘Power On Program Start’ parameter is enabled, the progrma mode operation will be
executed immediately after power supplying.
If the program mode stop command is input during program mode operation, it stops after
completing current step and starts from step 0 when program mode operation command is
input again.
※ To stop program mode before completing the current step, the emergency stop (“EMG”)
is required.
If a pause command is entered during program mode operation, the program pauses after
completing the current step. And if the program mode operation command is entered again,
the next step from the completed step will be executed.
To end the program mode operation, the program end command “END” must be required at
the last step. If there is no prgram end command (“END”), the ‘program mode error(
ef
)’
alarm will occur.
When entering the program mode data, the 01H command must be written first.
If 01H command is entered in each step, the remaining parameters 02H to 06H are initialized
to 0xF.
The remaining parameters must be entered after entering the command on the
corresponding step.
The 02H to 06H command corresponding to the middle parameter will not be written unless
the command(01H) is in the corresponding step.
Please input command code in order.
The final step must include END(0AH).
e.g.)
Step 0
Acceleration Time 1000
Deceleration Time 1000
Start Speed 50
Max Speed 10000
Position 50000
Relative position movement operation
Step 1
OPT, Next ON, 1000ms
Step 2
END command