Omron SYSMAC C200H-NC112, Руководство по эксплуатации

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59
SECTION 4
Commands
The Position Control Unit provides thirteen commands to execute automatic and manual positioning actions, define and
establish position, transfer data, and handle interrupts and errors. Any given command is executed when the program in
the PC turns ON the appropriate command bit in the IR area. In addition to the command bits themselves, the IR area
contains certain other data which are necessary for executing commands.
In executing commands, the Position Control Unit makes use of data stored in the DM area. This data includes settings
for speeds, positions, and so on. Although the data required for execution is listed under each command, much of this
data is used by more than one command. Refer to Section 3–4 for an outline of the structure of Position Control Unit
data, and to Section 3–5 for format specifications for particular types of data. Appendix C and Appendix D also provide
convenient overviews of data allocation. Applications of most commands are presented in Section 5.
4–1 START 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–1–1 DM Area Settings 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2 Positioning Actions 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2–1 IR Area Settings 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–2–2 Execution Examples 68 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3 ORIGIN SEARCH 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–1 DM Area Settings 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–2 IR Area Settings 72 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–3 Execution Examples 73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–3–4 Completion Examples 84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4 ORIGIN RETURN 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–1 DM Area Settings 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–2 IR Area Settings 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–4–3 Execution Example 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–5 RELEASE PROHIBIT 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6 READ ERROR 91 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6–1 Execution Example 92 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–6–2 Reading from the Programming Console 92 . . . . . . . . . . . . . . . . . . . . . . .
4–7 RESET ORIGIN 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8 TEACH 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–1 IR Area Settings 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–2 Execution Example 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–8–3 Teaching From the Programming Console 94 . . . . . . . . . . . . . . . . . . . . . .
4–9 TRANSFER DATA 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–1 Normal Transfer 96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–2 IR Area Settings 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–9–3 Present Position Preset 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10 Manual Operations 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–1 DM Area Settings 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–2 IR Area Settings 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–3 HIGH-SPEED JOG 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–4 LOW-SPEED JOG 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–10–5 INCH 104 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11 External Interrupt Commands 105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11–1 STOP 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4–11–2 CHANGE SPEED 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .