Omron CS1W-MCH71 -, Руководство по эксплуатации

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Command Details
Section 6-3
For example, when changing the interpolation feed speed for motion task
parameters with a unit cycle of 2 ms, the execution time will be 24 to 44 ms.
Pass Mode
(PASSMODE)
The operating mode is switched to Pass Mode.
Command type Multiple execution command
Format PASSMODE;
Ex: PASSMODE;
Operand Nil
Description • Interpolation blocks (MOVEL/MOVEC/MOVETRAV) after PASSMODE
command are executed in Pass Mode.
• There are four modes for linking speeds, one of which can be selected in
the parameter [P00M06: Pass mode select].
Stop Mode
(STOPMODE)
The operating mode is switched to Stop Mode.
Command type Multiple execution command
Format STOPMODE;
Ex: STOPMODE;
Operand Nil
Description Interpolation blocks (MOVEL/MOVEC/MOVETRAV) following STOPMODE
command proceeds to the next block after entering No. 2 in-position range
specified in the parameter [P3AA07: No.2 in-position range]. (Interpolation for
the next block will start after speed decreases to 0 and positioning enters No.2
in-position range.)
Interpolation 1
Interpolation 2
Interpolation 3
P00M06 Name Operation
0 Interpolation acceleration time
+ Acceleration disabled Operation proceeds to the next using interpolation acceleration time of the
previous block.
1 Interpolation deceleration
time+ Acceleration disabled Operation proceeds to the next using interpolation deceleration time of the
previous block.
2 Interpolation acceleration
time+ Acceleration enabled Operation proceeds to the next using interpolation acceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
3 Interpolation deceleration
time+ Acceleration enabled Operation proceeds to the next using interpolation deceleration time of the
previous block. For 1-axis linear interpolation, speeds are changed with
fixed acceleration/deceleration.
Interpolation 1
Interpolation 2
Interpolation 3
Interpolation for the next block will be executed after
the previous block enters No.2 in-position range.