Omron CS1W-MCH71 -, Руководство по эксплуатации

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Interface Specifics
Section 7-4
• In [Start Mode] = 1, the operation at resuming an interrupted program var-
ies depending on the command being executed as shown below:
Status Condition
• The bit [Start] returns the ON/OFF status of the bit [Motion Program Oper-
ating] from the CPU Unit as is.
When a program with a short execution time is executed, detection by the
ladder program of whether the bit [Motion Program Operation Completed]
at the end of the program has turned ON may not be possible. In this situ-
ation, perform the following processing in the ladder program to detect
whether the program has completed.
Bit [Start] is ON and bit [Motion Program Operation Completed] is ON.
• The bit [Motion Program Operating] indicates the execution status of the
motion program. It will be turned ON during program execution, and OFF
when deceleration stop or block stop is completed, or when the operation
is completed with END command execution.
• The bit [Motion Program Operation Completed] indicates the status of
whether the program has been executed to the end or not. It will be turned
ON when the operation is completed with END command execution, and
it will be turned OFF when the next program operation is started.
• [Executing Program Number] indicates the program number of the pro-
gram being executed. It will be updated when a new program execution is
started. If program operation is interrupted or completed, the value imme-
diately before will be held.
Command Operation
MOVE/MOVEL/MOVEC/
MOVEI/MOVET See 7-2-3 Automatic Mode (page 386).
MOVETRAV/MOVELINK/
CAMBOX (1 cycle) When interrupted midway of a block, resumes to fin-
ish the remaining travel distance. When interrupted
at the end of a block, the entire program will be exe-
cuted from the beginning again.
DATUM/CAM The entire program is executed again from the begin-
ning regardless of whether it was interrupted midway
or at the end.
Name Specifications
Start Bit (supported
in Unit Ver. 3.0 or
later) 0: Motion Program Operating Bit OFF (0)
1: Motion Program Operating Bit ON (1)
Motion Program
Operating 0: Motion task is not executing program operation.
1: Motion task is executing program operation (turned OFF
after deceleration or block stop completion).
Motion Program
Operation Com-
pleted 0: When program operation is started
1: END command was executed
Executing Motion
Program Number Outputs the program number of the program currently being
executed with motion task or temporarily being stopped.
Executing Motion
Block Number
(Single execution
command) • Outputs the block number of the single execution command
currently being executed with motion task, or temporarily
being stopped.
• During execution of parallel branching, the block number of
the leftmost block is output.
Executing Motion
Block Number
(Multiple execution
command) • Outputs the block number of the multiple execution com-
mand currently being executed with motion task, or tempo-
rarily being stopped.
• During execution of parallel branching, the block number of
the leftmost block is output.