Omron CS1W-MCH71 -, Руководство по эксплуатации

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269
Basic Information
Section 6-1
Changing Control Mode There are three different types of control mode for the MC Unit; [Position con-
trol mode], [Speed control mode], and [Torque control mode].
S
e
tting
Target position
change MOVEMODI A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Parameter value
change PARAM A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Workpiece coor-
dinate system
OFFSET change OFFPOS A A A A A A A A A A A A A A A A A A A A A A A A A A A A
Present value
Latch Present value Latch A A A C C A A A C A C A A A C A A A A A A A A A A A A H
Command executed
simultaneously
Classification Axis movement Axis operation Axis
operation
cancel
Setting
Command currently
being Executed
Function/Name
P
o
si
ti
oni
ng
Lin
ear
in
ter
p
o
latio
n
Cir
c
u
lar
in
ter
p
o
latio
n
Or
ig
in
sea
rc
h
Int
e
rr
u
p
t fe
edin
g
T
im
e
-sp
ecifi
ed p
o
si
tio
n
in
g
T
ra
ver
se
E
lect
ro
n
ic
CAM, S
in
g
le ax
is
L
ink
op
e
ra
ti
o
n
E
le
c
tr
o
n
ic CAM,
Syn
c
hr
on
ous
E
le
c
tr
on
ic sh
aft
T
railin
g
sy
n
c
h
ro
n
izati
o
n
T
ra
vel
d
ista
n
ce sup
e
r im
p
o
se
S
p
eed
co
ntr
o
l
To
rq
u
e
c
o
n
tr
o
l
T
ra
ilin
g
syn
c
h
ro
n
izatio
n
c
a
n
c
e
l
T
ra
v
e
l dis
tan
ce su
pe
r im
po
se c
a
nc
el
S
p
eed con
tr
o
l
c
a
nce
l
T
o
rq
ue c
o
n
tr
o
l ca
ncel
T
a
rg
e
t po
sit
ion
ch
an
ge
P
a
ra
me
te
r v
a
lu
e
c
h
a
n
g
e
W
o
rk
piec
e co
or
din
a
te
syst
em
OFF
S
E
T
ch
ange
P
resen
t v
a
lue
latc
h
C
la
ssif
icati
o
n
Function/Name Command Stepping
MO
V
E
MO
V
E
L
M
O
VEC
DA
T
U
M
MO
V
E
I
MO
V
E
T
MO
V
E
T
R
A
V
CAM
M
O
VE
L
INK (
M
)
M
O
V
E
L
INK (
S
)
CAM
BO
X (
M
)
CAM
BO
X
(
S
)
CONNE
CT
(
M
)
CONNE
CT
(
S
)
S
Y
NC (
M
)
S
Y
NC (
S
)
ADD
AX (
M
)
ADD
AX
(
S
)
SP
E
E
D
T
O
RQ
UE
SYNCR
ADD
A
X
R
SP
E
E
D
R
T
O
RQ
UE
R
MO
V
E
MOD
I
P
ARA
M
OF
F
P
O
S
LA
TC
H
Meaning
A Can be executed.
B The function executed later will be ignored.
C Can be executed when no latch is requested. However, when latch is being
requested and the function is executed, the alarm [301Ah:Counter latch
resource violation] will occur and the program will be interrupted. Also, if the
function is executed when writing the latch range parameters, the alarm [2016h:
Same axis specification multiplicity] will occur, and the program will be inter-
rupted.
D Alarm [2014h: Control mode error] will occur, and the program will be inter-
rupted.
E Alarm [2016h: Same axis specification multiplicity] will occur, and the program
will be interrupted.
F Alarm [2018h: Synchronous slave axis specification error] will occur, and the
program will be interrupted.
G Only MOVEMODI during MOVEL:
Can be executed if a single axis is specified for each command. Otherwise, the
function executed later will be ignored.
H Only latch cancel can be executed. Other cases will be as follows: When exe-
cuted in parallel, the alarm [2016: Same axis specification multiplicity] will occur
and the program will be interrupted.
When executed in series, the alarm [301A: Counter latch resource violation] will
occur and the program will be interrupted.
When executed continuously, the alarm [2016: Same axis specification multi-
plicity] will occur and the program will be interrupted.
I Only SPEEDR/TORQUER for the master axis:
The function executed later will be ignored. Note that, however, if the master
axis is under speed or torque control, SPEEDR/TORQUER will be executed to
end the operation.