Omron CJ - INSTRUCTIONS User Manual

835
3. Instructions
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Basic I/O Unit Instructions
3
NCDMV
Example Programming
When CIO 0.00 turns ON in the following example, an relative movement is executed using direct
operation for axis 2 of the CJ1W-NC2@4 Position Control Unit (a Special I/O Unit) with unit number 3. If
the first word of the Direct Operation Command Area is D0, the direct operation command settings in
D12 to D23 are used to start high-speed PTP positioning.
0.00
MOVL
#000061A8
D16
MOVL
#00003A98
D14
MOVL
#000000C8
D22
MOVL
#000000C8
D20
0.00
20.00
10.00
=
10.00
20.00
NCDMV
#00030102
D0
A330.03
C
A
Sets positioning data.
Example: 150 mm, Command unit
= 0.01 mm, so the command
position for axis 2 is set to 0000
3A98 hex (15,000 decimal).
Sets the target speed.
Example: 250 mm/s, Command
unit = 0.01 mm/s, so the command
speed for axis 2 is set to 0000
61A8 hex (25,000 decimal).
Sets the acceleration time.
Example: 0.2 s, Unit = ms, so the
acceleration time for axis 2 is set
to 0000 00C8 hex (200 decimal).
Sets the deceleration time.
Example: 0.2 s, Unit = ms, so the
deceleration time for axis 2 is set
to 0000 00C8 hex (200 decimal).
Special I/O Unit with unit number
3, relative move, axis 2
First word of Direct Operation
Command Area
Initializing Flag for
Special I/O Unit with
unit number 3
250mm/s
0.2 s0.2 s
150 mm
#3A98
#0002
D14
D15
#00C8
#0000
D23
D22
#0000
#0000
D12
D13
CJ2M CPU Unit
High-speed PTP started.
CJ1W-NC2
@
4 Position Control Unit
(Special I/O Unit with unit number 3)
Servo
Drive
Axis 2
Pulses
Speed
Target speed
Starting speed
(Specified in axis
parameters.)
Direct Operation
Amount of movement
Deceleration
time
High-speed PTP started.
Time
Deceleration
time
Direct Operation Command
Settings for Axis 2

Omron CJ - INSTRUCTIONS Specifications

General

Brand	Omron
Model	CJ - INSTRUCTIONS
Category	Controller
Language	English