Omron CS1W-MCH71 -, Руководство по эксплуатации

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Debugging the Program
Section 9-2
Effect • Machine Lock is a function independent for each axis, so there is no effect
of other axes.
When Machine Lock is executed on some of the axes (not on all the axes)
during an operation involving several axes, the mechanical system may
operate in an unexpected way.
• In Machine Lock state, the origin search operation with DATUM com-
mand, Axis Control Bit: Origin Search will be the same as the operation of
Axis Control Bit: Forced Origin. (This is to prevent the axis from moving
endlessly. It is caused by the fact that the axis does not move at all in
Machine Lock state and no external signal will be input.)
Operation during Parallel
Execution Regardless of parallel branching, Machine Lock status (set or reset) will be
changed only in relation to the axis status.
Servo ON/OFF Even in Machine Lock state, Servo ON of the concerned axis is required to
move the axis.
Breakpoints A breakpoint function is provided for MC Units with unit version 3.0 or later.
■
Function
• When a motion program is executed, program execution will be stopped
after the commands in the specified block number have been executed.
• Breakpoints are set and cleared for block numbers using the Support Tool
(CX-Motion-MCH version 2.0).
• One breakpoint can be set for one motion task.
■
Operation
• For details on setting and clearing breakpoints, refer to the Support Tool
Operation Manual.
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Commands by program Position
command Speed/Torque
command
Position command Speed/Torque command
The status will be changed when
the bit [Axis Operating] = 0 in the
position control mode. The output remains as the
position command in Axis
Machine Lock state.
Wait Wait
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