Omron CS1W-MCH71 Operation Manual page 319

Basic Information
Pulse [on motor] =
Processing Required
When the Command
Execution Completion for
MOVELINK, CAMBOX Is
Set to "At the Same Time
with the Command Start"
274
9001h [No. of encoder pulses/1 motor rotation] ×
Command unit
P5AA05 [on motor]
[on machine] ×
P5AA04 [command unit/1 machine rotation] ×
P5AA06 [on machine]
• No. of pulses for the linking distance of the master axis [J01]:
When 100. of [J01] is converted from the immediate value to the com-
mand unit,
Command unit = 100. / 0.01 (unit of P5AA02) = 10000 [on machine]
Put the result in the formula (1):
Pulse [on motor] = 10000 [on machine] × (65536 × 5) / (36000 × 1)
• No. of pulses for the linking distance of the slave axis [J02]:
Pulse [on motor] = 6000 [on machine] × (65536 × 1) / (36000 × 1)
According to the results (2) and (3), the relations between the master axis
[J01] and the slave axis [J02] on the travel distance (pulse) within the link-
ing distance is:
Master axis [J01] Slave axis [J02]
91022 [pulse] > 10922 [pulse]
In this case, the travel distance of the master axis is larger than the one of
the slave axis. Thus, the condition "Master axis travel distance > Slave axis
travel distance" is satisfied.
By setting the link option of the synchronous commands MOVELINK and
CAMBOX to "At the same time with the command start" for the command exe-
cution completion, the program can execute a single execution command
(axis movement, etc.) on a slave axis different from the one previously used.
However, when a new single execution command such as axis movement,
etc. is to be executed after completion of the previous synchronous operation,
the operation of the new command is started (specifying the same slave axis
as the one previously, or currently being used causes an alarm.) before the
synchronous operation is completed unless a program that monitors comple-
tion of the synchronous operation is arranged. The following is the program
example.
Program
Task 1
PROG P0001 Q00000005; Declaration of the program
(1)MOVELINK [J01]2000 [J02]1000 A200 D200 Q1; Synchronizes J01 with
J02
(2)#MW0000 = 0055; Writes "55" to global variable 0000
(3)MOVE [J03]1500; Moves J03 to the position 1500
(4)WAIT #SW0228 = = 0000; Stops stepping till J01 not being executed
(5)MOVE [J01]3000; Moves J01 to the position 3000
END;
Task 2
PROG P0001 Q00000002; Declaration of the program
(2)WAIT #MW0000 = = 0055; Stops stepping till global variable 0000
becomes "55"
#MW0000 = 0; Writes "0" to global variable 0000
(6)MOVE [J02]2000; Moves J02 to the position 2000
END;
= 91022.22 = 91022 [pulse] --- (2)
= 10922.6 = 10922 [pulse] --- (3)
Section 6-1
--- (1)