Omron CS1W-MCH71 -, Руководство по эксплуатации

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Command Details
Section 6-3
• If Slave axis name is omitted in ADDAXR command, all the superimposi-
tion being executed in the same motion task will be cancelled.
• ADDAXR command execution will be completed when superimposition is
cancelled.
• During the command execution, the command code “0019h” is output to
the system variable “Command execution status” (SW0228 for Axis 1).
(For details of command codes, see
4-5 System Variables Command
Code in Command Execution Status on page 158.)
Caution When a command that has waiting conditions such as Stop Mode is executed
on the slave axis, the waiting conditions may not be satisfied in some cases.
See the following example:
Speed Control/Speed
Control Cancel
(SPEED/SPEEDR)
The speed of the axis is controlled in the speed control mode.
Command type Single execution command
Format SPEED_[<axis name>]<speed command value> ---8--- _T< speed change
rate>;
SPEEDR_[<axis name>] ---8---_T<speed change rate>;
Ex: SPEED_[J01]100.00 [J02]100.00 _T100;
SPEEDR_[J01] [J02] _T100;
Superimposed only for
this interval
Master axis
Slave axis
ADDAXR command
ADDAX command
Superimposed portion
travel distance
Ex:
...
ADDAX [J02] [J01];
PARALLEL N2;
MOVE [J01]1000.;
JOINT;
MOVE [J02] 500;
...
←
J02 is the slave axis in the superimposition. Posi-
tioning only up to 500. is not sufficient for in-posi-
tion, which means that the MOVE command cannot
be completed. Practically, it will be completed after
the movement of [J01] (2 lines before) is completed.
To avoid waiting for completion of [J01], it is neces-
sary to replace use MOVEL in Pass Mode, etc.