Omron CS1W-MCH71 Operation Manual page 364

Command Details
Precautions When Using
MOVELINK Continuously
• [Master axis classification] determines whether to synchronize the slave
axis with the master axis command value or feedback value.
Master axis
classification
0 or omitted
1
• Completion of command execution varies depending on the link option.
• During the command execution, the command code "0015h" is output to
the system variable "Command execution status" (SW0228 for Axis 1).
(For details of command codes, see 4-5 System Variables Command
Code in Command Execution Status on page 158.)
The timing may need to be adjusted using the NOPS command when the axis
is continuously moved using the MOVELINK command. The following exam-
ple is given as explanation.
As the following program shows, J05 and J04 are joined to the main axis J02
using the MOVELINK command.
If the slave axis J05 is moved immediately after positioning J02 (completion of
line 2), the movement of J05 in line 1 is cancelled and J05 will be short one
unit cycle of reaching the target position.
This happens because when the MOVELINK command in line 3 is executed,
the MOVELINK command in line 1 has not yet completed processing one unit
cycle, thereby cancelling this portion of the unit cycle upon the execution of
line 3.
MOVELINK [J05]36400 [J02]#ML0002 A0 D0 Q1;
MOVELINK [J04]36400 [J02]#ML0002 A0 D0 Q1;
INC MOVE [J02]#ML0002
MOVELINK [J05]16000 [J02]#ML0004 A0 D0 Q1;
MOVELINK [J04]16000 [J02]#ML0004 A0 D0 Q1;
INC MOVE [J02]#ML0002
To deal with this problem, insert a NOPS command after the MOVE command
as shown below. By inserting the NOPS command, the MOVELINK command
will be executed after line 1 is completed.
MOVELINK [J05]36400 [J02]#ML0002 A0 D0 Q1;
MOVELINK [J04]36400 [J02]#ML0002 A0 D0 Q1;
INC MOVE [J02]#ML0002;
NOPS;
MOVELINK [J05]16000 [J02]#ML0004 A0 D0 Q1;
MOVELINK [J04]16000 [J02]#ML0004 A0 D0 Q1;
INC MOVE [J02]#ML0002;
NOPS;
Unit Versions Before Unit Ver. 3.0
If the next operation is executed while the Master axis is continuing to travel,
some of the Slave axis travel distance (up to one Unit cycle of travel) will be
eliminated.
Case First command Next command
1 CAMBOX
2 CAMBOX
Master axis value to
synchronize with
Command value
Feedback value
CAMBOX Part of the travel distance specified in
the first CAM table will be eliminated
when switching from the first CAM table
to the next CAM table.
MOVELINK As above.
Section 6-3
←(1)
←(2)
←(3)
Remarks
319