Omron SYSMAC C500-NC222-E, Руководство по эксплуатации

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90
Condition
Command
Upon
initial-
ization
Emer-
gency
Stops
Pause Inching Jogging
Deceler-
ation
Stop
Origin
Search
Stop
Posi-
tioning
REL X X X X X X X X X
EMG
∅ ∅ ∅ ∅ ∅ ∅ ∅
X
∅
ACLR
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
CLR
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
BCLR
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
STORE
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
RESTR
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
READ
∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅ ∅
MOV
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
TEACH
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
CCHG
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗
X
∅
HSFT
⊗ ∅ ⊗ ⊗ ⊗ ⊗ ⊗ ∅ ∅
*1: Clears HLD and stops.
*2: The command is acknowledged, but is effective from the next SRT.
6-4 Interpolation
For interpolated positioning, both X and Y motor axes operate together. Al-
though the position field is used for both the X- and Y-axis positioning ac-
tions, all other positioning action parameters are taken from the X-axis fields
only, and corresponding Y-axis fields are ignored.
For example, in the circular arc interpolation below the intermediate interpo-
lation point P
0
and end point P
1
are selected.
0 3 0 1
1 2 3 0
Consider the command:
P
1
P
0
Starting Point
Interpolation start with one operand
Positioning action designating intermediate interpolation point
The OP code designates ISRT (interpolation start) with an operand count of 1
referring to the word for the single positioning action immediately below. The
address 123 is an X-axis positioning action and assumed to be the intermedi-
ate interpolation point. The corresponding Y-axis positioning action is 523
(same last two digits). You must set the positioning action address with the
circular arc interpolation command as the intermediate interpolation point.
The end point will automatically be searched in the address following the in-
terpolation point address.
Interpolation
Section 6-4