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Command Details
Section 6-3
For example, when changing the interpolation feed speed for motion task
parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms.
Pass Mode
(PASSMODE)
The operating mode is switched to Pass Mode.
Command type
Multiple execution command
Format
PASSMODE;
Ex: PASSMODE;
Operand
Nil
Description
• Interpolation blocks (MOVEL/MOVEC/MOVETRAV) after PASSMODE
command are executed in Pass Mode.
• There are four modes for linking speeds, one of which can be selected in
the parameter [P00M06: Pass mode select].
Stop Mode
(STOPMODE)
The operating mode is switched to Stop Mode.
Command type
Multiple execution command
Format
STOPMODE;
Ex: STOPMODE;
Operand
Nil
Description
Interpolation blocks (MOVEL/MOVEC/MOVETRAV) following STOPMODE
command proceeds to the next block after entering No. 2 in-position range
specified in the parameter [P3AA07: No.2 in-position range]. (Interpolation for
the next block will start after speed decreases to 0 and positioning enters No.2
in-position range.)
Interpolation 1
Interpolation 2
Interpolation 3
P00M06
Name
Operation
0
Interpolation acceleration time
+ Acceleration disabled
Operation proceeds to the next using interpolation acceleration time of the
previous block.
1
Interpolation deceleration
time+ Acceleration disabled
Operation proceeds to the next using interpolation deceleration time of the
previous block.
2
Interpolation acceleration
time+ Acceleration enabled
Operation proceeds to the next using interpolation acceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
3
Interpolation deceleration
time+ Acceleration enabled
Operation proceeds to the next using interpolation deceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
Interpolation 1
Interpolation 2
Interpolation 3
Interpolation for the next block will be executed after
the previous block enters No.2 in-position range.
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