Omron CS1W-MCH71 -, Руководство по эксплуатации

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510
Interface Specifics
Section 7-4
Operation in Speed or Torque Control:
In Speed or Toque Control, it is not guaranteed that the axis will not move
when the command output is stopped. Therefore, the bit [Axis Machine Lock
Status] is not changed (turned ON/OFF). Due to the same reason, while the
bit [Axis Machine Lock Status] is 1 (ON), commands are output not as Speed
or Torque command, but as Position command.
Function With this bit, the operating mode of the axis is switched.
Command and Operation
1
0
1
0
1
0
The status is switched when position command is
being output and the bit [Axis Operating] is 0 (OFF).
In Axis machine lock
state, output in position
control is maintained.
Wait Wait
Position
command Speed/ Torque
command
Position command
Speed/Torque
command
Commands by program
Axis Control Bit:
Axis Machine Lock
Axis Status Bit:
Axis Machine Lock Status
Axis Status Bit:
Axis Operating
Control mode
Position Control Speed/Torque control Position Control Position Control
Word Variable Bit Name I/O
x+0
-
x+31 IW0440
-
IW045F 15 Manual/Automatic Mode (Axis 1)
-
Manual/Automatic Mode (Axis 32) Output
Name Specifications
Manual/Automatic
Mode 0: In Manual Mode
1: In Automatic Mode
↑
: Decelerates to stop the manual operation being executed
↓
: Decelerates to stop the automatic operation being executed