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287
Command Overview
Section 6-2
Commands that can be used in the motion program are listed below:
Classifica-
tion
Command/func-
tion name
Code
Applicable
task
Summary
Completion condi-
tion (Proceed to
next block)
Motion
Axis move-
ment
POSITIONING
MOVE
@ S
Moves each axis independently.
In-position
LINEAR INTERPO-
LATION
MOVEL
@ S
Moves axes with linear interpola-
tion.
Travel distance out-
put completed.
CIRCULAR INTER-
POLATION
MOVEC
@ S
Moves axes with circular interpo-
lation.
Travel distance out-
put completed.
ORIGIN SEARCH
DATUM
@ S
Finds machine origin according
to input signals.
In-position
INTERRUPT FEED-
ING
MOVEI
@ S
Changes target position by
means of input signals.
In-position
TIME-SPECIFIED
POSITIONING
MOVET
@ S
Performs positioning with speci-
fied time period.
In-position
TRAVERSE
MOVETRAV
@ S
Executes winding (traverse)
function of winder.
Travel distance out-
put completed.
ELECTRONIC CAM,
SINGLE AXIS
CAM
@ S
Executes cam operation accord-
ing to cam table.
In-position
Axis opera-
tion
LINK OPERATION
MOVELINK
@ S
Synchronizes the slave to the
master based on travel distance
of the master in acceleration and
deceleration.
Depends on the link
option.
ELECTRONIC CAM,
SYNCHRONOUS
CAMBOX
@ S
Executes cam operation accord-
ing to cam table and master axis.
Depends on the link
option.
ELECTRONIC
SHAFT
CONNECT
@ S
Synchronizes the slave to the
master in a fixed ratio to the
master axis.
Synchronization
established.
TRAILING SYN-
CHRONIZATION
SYNC
@ S
Executes tr synchronizes
the slave to the master axis.
Synchronization
established.
TRAVEL DISTANCE
SUPERIMPOSE
ADDAX
@ S
Superimposes travel distance
between axes.
Synchronization
established.
SPEED CONTROL
SPEED
@ S
Outputs speed commands.
Specified speed
reached.
TORQUE CON-
TROL
TORQUE
@ S
Outputs torque commands.
Specified torque
reached.
Axis opera-
tion cancel
SYNCHRONIZING
END
SYNCR
@ S
Cancels MOVELINK, CAMBOX,
CONNECT, or SYNC.
In-position
TRAVEL AMOUNT
SUPERIMPOSE
CANCEL
ADDAXR
@ S
Cancels travel distance superim-
pose.
Synchronization can-
celled.
SPEED CONTROL
CANCEL
SPEEDR
@ S
Cancels speed control
Switch to position
control mode com-
pleted
TORQUE CON-
TROL CANCEL
TORQUER
@ S
Cancels torque control
Switch to position
control mode com-
pleted
Содержание CS1W-MCH71 -
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