Why jog command can't work while using Hold command?

[dzrong]

When my program is running,I send H command to CLIPPER,and the position of program stopped at the DWELL100000 position, then I send Jog+ command,but CLIPPER tell me "command not allowed while program exection".But stopping at other position works well.

But the software manual tell me that "Jogging moves are permitted while in feedhold mode (unlike in non-Turbo PMACs)".

Why? except dwell?[/i]

 

Here is my program.

&1

#1->x

#2->y

OPEN PROG 1 CLEAR

LINEAR

ABS

F500

While (1 > 0)

X10Y10

dwell 100000

X700Y700

DWELL100000

EndWhile

CLOSE

[Omron Forums Support]

How and when are you issuing the H command?

[steve.milici]

The "H" feedhold only works in a segmented move - Isx13 must be greater than zero. Also if the feedhod is issued during the DWELL time jogging is not permitted because PMAC never segments a DWELL. Instead use a DELAY command.

[dzrong]

In the terminal,sent the H command.The time just guess,but let it stop the dwell position.And Isx13=10.By the way it works in lookahead mode.Isx20=10.

 

Because the DELAY has other progblem,"if DELAY comes after a blended move,

the TA deceleration time from the move occurs within the Delay time, not before it."

So I deside to use WHILE+DELAY instead of DWELL in the lookahead mode.

Like this if I want to stop 200ms but not use dwell200:

while(m133=0)

;p1=p1+1

endwhile

delay200

How about this way?

 

 

[Omron Forums Support]

I think what Steve suggested will work - just use Delay rather than Dwell. Does that fix the problem?

[dzrong]

Because in the lookahead mode you don't know how much time the last TA time is,so if you want to delay certain time you must know the TA time."if DELAY comes after a blended move,the TA deceleration time from the move occurs within the Delay time, not before it."

That's the problem.

[Omron Forums Support]

Do you really need an exact wait duration for your Delay command? It seems that all you really need to do is turn on a flag from within the motion program indicating that it is time to hold, and then have a PLC that is running detect the flag and issue the CMD"H" command. You can then jog freely. You could have the PLC issue CMD"R" when you are ready to resume the motion program, for example after the motor reaches its desired jog location.

[dzrong]

Thank you very much! Yes,this is a good idear.

But I realy want to know what will happy when program meet "while()" in the lookahead mode,does it stop lookahead? There seems no documents say that.

[Omron Forums Support]

If the program encounters TWO EndWhile statements, lookahead will stop.

[steve.milici]

A single while loop will not stop blending only two nested while loops will stop blending and also lookahead. A delay will also stop blending since the minimum delay time is the TA time. The delay will not stop lookahead though.

 

 

[dzrong]

Any way,if you want to jog a motor when you hold a program at special command like dwell(goto\endwhile\ while),you can jog the motor throw handwheel channel,and setting Ix05 to a virtual axis channel feedback address,ix06=1.