Omron CS1W-MCH71 -, Руководство по эксплуатации

Страница: 354 / 717

309
Command Details
Section 6-3
• If the Fixed feed amount specified is smaller than the distance required
from the signal input to the stop after deceleration, return operation is per-
formed for the excessive distance after completion of deceleration stop.
• Only one axis can be specified in one block.
• MOVEI command execution will be completed when positioning for all the
specified axes is completed (in-position).
• During the command execution, the command code “0005h” is output to
the system variable “Command execution status” (SW0228 for Axis 1).
(For details of command codes, see
4-5 System Variables Command
Code in Command Execution Status on page 158.)
Time-Specified
Positioning (MOVET)
Positioning is executed to the specified position within the specified time
period.
Command type Single execution command
Format MOVET_[<axis name>]<position command value> ---8--- T<positioning time>;
Ex: MOVET_[J01]1000.00 [J02]2000.00 T100;
Operand Axis name: J01 to J32
Note (1) Word data is extended to long word data with a sign in the MC Unit.
(2) The actual value is determined by the setting value of the parameter
[P5AA02: Position command decimal point position].
Description • Positioning is performed to the position specified with the position com-
mand value within the time period specified with the positioning time.
• Speed of each axis is determined by the following expression:
[Speed of each axis] = Travel distance of each axis/positioning time
• When the speed determined by the expression above exceeds the speed
specified in the parameter [P2AA01: Maximum rapid feed rate], the alarm
[200B: Time specification error] will occur before the operation. The
speed after override during an operation is limited by the speed specified
in the parameter as well.
Fixed feed amount
(the negative speed indicates
the negative travel distance.)
Speed
Rapid feed rate
-(Speed after
signal input)
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Position command
value
−
2147483648 to
2147483647
Yes No Yes (See
note 1.) Yes Yes (See
note 2.) Yes Yes
Positioning time 0 to
3600000 ms No No Yes (See
note 1.) Yes No Yes No