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235
Controlling the MC Unit from the CPU Unit
Section 5-2
Ladder Programming Example and Timing Chart
A ladder programming example to execute an MC program (with pause) and
its timing chart are provided below.
Ladder Programming Example
The above ladder program is a sample program for task 1.
!Caution
When executing a positioning command with an MC program, all the affected
axes must be servo-locked (i.e., the Servo-lock Bit must be ON). Therefore,
be sure to include the above R4 condition.
DIFU(13)
R3
n+3
01
DIFU(13)
R1
DIFU(13)
R2
DIFU(13)
R4
n+3
02
MOV(21)
#0005
n+2
n+3
07
R2
R1
(Cycle Start
Bit)
Program P005 is
executed in task 1 in
this example.
(Program Number
Read Bit)
n+15 09
Pause button
Pause
Automatic/
Manual Mode
(Automatic/Manual
Mode Bit)
(Work Bit)
(Work Bit)
n+3 05
n+15 05
Program Execution Completed Flag
Program start button
n+15 04
Program Execution Flag
(Work Bit)
n+22 02
X-axis Servo-
lock ON
n+25 02
Y-axis Servo-lock ON
n+3
05
R1
n+15 04
Program Exe-
cution Flag
(Work Bit)
Both axes are used
in this example.
(Pause Bit)
n+3 05
R3
n+3 02
n+10 14
R4
n+15 02
Cycle Start Bit
Cycle
Start Re-
ceived
Pause Program Ex-
ecution Com-
pleted Flag
Automatic
Mode Flag
Servo-
lock ON
Task Error
Flag
Содержание CS1W-MC221 -
Страница 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Страница 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
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Страница 5: ...vi ...
Страница 11: ...xii ...
Страница 15: ...xvi ...
Страница 19: ...xx ...
Страница 27: ...xxviii Conformance to EC Directives 6 ...
Страница 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Страница 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Страница 227: ...200 Command Area Section 3 6 ...
Страница 351: ...324 Interface Specifics Section 5 4 ...
Страница 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Страница 575: ...548 Error Log Section 12 6 ...
Страница 589: ...562 Performance Appendix A ...
Страница 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Страница 683: ...656 Origin Search Patterns Appendix F ...
Страница 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...