Omron CS1W-MCH71 -, Руководство по эксплуатации

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Interface Specifics
Section 7-4
Stop in Speed or Torque control mode:
Function • Single block operation mode is used for debugging purpose, etc. to exe-
cute the motion program block by block.
• [Block Stop] and [Single Block Operation Mode] are similar from the view-
point that the operation is stopped at the end of the block, however, follow-
ing differences can be observed between them:
1 PROG P100 Q00000003;
2 SPEED [J01]1000 T 100;
3 MOVEL [J02]1000;
4 END;
3
1
0
1
0
T1
Tu
1
0
0
Program to be executed
Row No.
[J01] speed
The bit [Deceleration Stop] is turned ON
after starting execution of this block.
Time
Speed control Position control
Motion Task Control Bit:
Block Stop
Motion Task Status Bit:
Motion Program Operating
Motion Task Status Bit:
Motion Program
Operation Completed
Motion Task Status Data:
Executing Motion Block
Number (Single execution
command)
Control Mode
Word Variable Bit Name I/O
n+4
-
n+11 IW0340
-
IW0347 06 Single Block Operation Mode (Task 1)
-
Single Block Operation Mode (Task 8) Output
Item Block Stop Single Block Operation
Purpose Used to stop the motion program. Used to debug the motion program.
Influence when starting
execution Motion program execution cannot be started
while the bit [Block Stop] is ON. Motion program execution can be started
while the bit [Single Block Operation Mode] is
ON.
Detection Edge detection Level detection
NSTOP command Operation stops not being affected by NSTOP. Operation does not stop being affected by
NSTOP.