CS1W-MCH71 Datasheet, PDF (7/11 Pages) Omron Electronics LLC – Improve Equipment Design Efficiency and Shorten Tact Time

Commands
CJ1W-MCH71
Classification
Name
MOVE, LINEAR INTERPOLATION,
CIRCULAR INTERPOLATION
ORIGIN SEARCH
Axis
movement
INTERRUPT INCHING
MOVE TIME
TRAVERSE
INDEPENDENT ELECTRONIC
CAM
LINK
SYNCHRONIZED ELECTRONIC
CAM
Starting and
stopping axis
operations
ELECTRONIC SHAFT
FOLLOW-UP SYNCHRONIZATION
STOP SYNCHRONIZATION
ADD AXIS TRAVEL
Command
MOVE, MOVEL, MOVEC
DATUM
MOVEI
MOVET
MOVETRAV
CAM
MOVELINK
CAMBOX
CONNECT
SYNC
SYNCR
ADDAX, ADDAXR
Settings
START SPEED, END SPEED
START TORQUE, END TORQUE
CHANGE TARGET
ABSOLUTE SPECIFICATION,
INCREMENTAL SPECIFICATION
CHANGE PARAMETER
PASS MODE
STOP MODE
SELECT MACHINE COORDINATE
SYSTEM, SELECT WORKPIECE
COORDINATE SYSTEM
CHANGE WORKPIECE ORIGIN
OFFSET
LATCH
IGNORE SINGLE BLOCK
PROGRAM START, PROGRAM
END
SUBPROGRAM CALL,
SUBPROGRAM END
SPEED, SPEEDR
TORQUE, TORQUER
MOVEMODI
ABL, INC
PARAM
PASSMODE
STOPMODE
ORIGIN, WORK
OFFPOS
LATCH
NSTOP
PROG, END
GOSUB, RETURN
DWELL, WAIT
DWELL, WAIT
Controls
OPTIONAL END
Conditional Branching
WHILE Repeat Commands
STOPOP
IF, ELS, ENDIF
WHILE, WEND
FOR Repeat Commands
FOR, NEXT
Simple
operations
Logical
operations
Functions
Bit
operations
Data
operations
Parallel Execution
Selected Execution
NO OPERATION SINGLE,
NO OPERATION MULTIPLE
SUBSTITUTION
Arithmetic Operations
REMAINDER
OR/XOR/AND/NOT
ABSOLUTE
SINE, COSINE, ASINE, ACOSINE
TANGENT, ATANGENT
SQUARE ROOT, EXPONENT,
LOGARITHM
FRACTION
SIGN
BIT ON, BIT OFF
RIGHT SHIFT, LEFT SHIFT
BCD → BIN/BIN → BCD
BLOCK TRANSFER, BLOCK
CLEAR
PARALLEL, JOINT, JWAIT
SWITCH, CASE, BREAK, DEFAULT,
SEND
NOPS, NOPM
=
+, - , ∗ , / , ^
%
|, ., &, !
ABS
SIN, COS, ASIN, ACOS
TAN, ATAN
SQR, EXP, LOG
FRAC
SGN
SET, RESET
SFTR, SFTL
BIN, BCD
XFER, CLEAR
Function
Moves axes individually, or using linear or circular interpolation.
Finds the machine origin according to input signals.
Changes the position by inching according to input signals.
Positions according to a specified time.
Executes a winding operation.
Executes cam operations according to a table.
Synchronizes with the main axis with acceleration and deceleration.
Executes a cam operation according to a table and main axis.
Synchronizes at fixed rate to main axis.
Follows and synchronizes with the main axis.
Stops MOVELINK, CAMBOX, CONNECT, and SYNC.
Starts and stops the accumulation of travel amounts between
axes.
Outputs and stops a speed reference.
Outputs and stops a torque reference.
Changes the target position for the axis that is travelling.
Handles coordinates as absolute or incremental values.
Changes parameter values at one time.
Specifies operations with interpolation blocks connected.
Waits for the interpolation block to be in position.
Selects either the machine coordinate system or the workpiece
coordinate system.
Changes the offset of the workpiece coordinate system.
Latches the present position.
Ignores single block mode.
Marks the beginning or end of a program.
Calls a subprogram or ends a subprogram and returns to the
source of the call.
Waits for a specified length of time or for a specified condition to
be met and then executes the next block.
Stops the block being executed when a specified condition is met.
Branches according to conditions.
Repeats until any specified condition is met.
Repeats until specified count (constant, variable, or immediate) is
met.
Executes in parallel for the specified interval.
Switches and executes the specified section according to
conditions.
Nothing is executed. (Single or multiple execution command)
Substitutes values for variables.
Performs addition, subtraction, multiplication, division, and power
operations.
Finds the remainder in division operations.
Performs logical OR, XOR, AND, and NOT operations.
Finds the absolute value.
Finds the sine, cosine, arcsine, or arccosine.
Finds the tangent or arctangent.
Finds the square root, exponent, or logarithm.
Finds the decimal portion.
1 if greater than 0, and -1 if negative.
Turns a specified bit ON or OFF.
Shifts right or left for the specified number of bits.
Converts from BCD to binary, or from binary to BCD.
Transfers or clears a block of data.
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