Omron CS1W-MCH71 -, Руководство по эксплуатации

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System Variables
Section 4-5
Command Code in
Command Execution
Status In the system parameter Command execution status (SW0228 for axis 1), one
of the command codes in the table below will be displayed.
They are used to monitor the execution status of the operation in the program.
Note With Target Position Change command (MOVEMODI), the command code of
MOVE or MOVEL in the previous block is maintained.
MECHATROLINK-II Servo
Status The system parameter MECHATROLINK-II servo status (SW021C, SW021D
for axis 1) shows the status of the servo driver.
Axis addresses are calculated using the following equation.
Axis i Servo status address 1 (hexadecimal) = SW021C (Hex) + 30 (Hex)
×
(i
−
1)
Axis i Servo status address 2 (hexadecimal) = SW021D (Hex) + 30 (Hex)
×
(i
−
1)
i = 1 to 32
Examples: Axis 2 axis Servo status address 1 (hexadecimal) = SW021C
(Hex) + 30 (Hex)
×
(2
−
1) = SW024C (Hex)
Axis 2 axis Servo status address 2 (hexadecimal) = SW021D
(Hex) + 30 (Hex)
×
(2
−
1) = SW024D (Hex)
Classification Command name Command Code Remark
No operation Not executing --- 0000h
Axis movement Positioning MOVE 0001h
Linear interpolation MOVEL 0002h
Circular interpolation MOVEC 0003h
Origin search DATUM 0004h
Interrupt feeding MOVEI 0005h
Time-specified positioning MOVET 0006h
Traverse MOVETRAV 0007h
Electronic CAM single axis CAM 0008h
Axis operation Link operation MOVELINK 0015h
Electronic CAM Synchronous CAMBOX 0016h
Electronic shaft CONNECT 0017h
Trailing synchronization SYNC 0018h
Travel distance superimpose ADDAX 0019h
Speed command SPEED 001Ah
Torque command TORQUE 001Bh
Axis operation
end Synchronization end SYNCR 0029h If there is no travel distance specifica-
tion, the code of the synchronous com-
mand code is maintained.