Omron CS1W-MCH71 Operation Manual page 625

Program Example
10-1-6 Positioning with Changing Interpolation Acceleration Time
Parameter
Explanation of the
operation
Program
Explanation of the
program
580
Subprogram
01) A subprogram No. and axes to be used are specified.
02) The axes move from the present position to the position [J01]0, [J02]0.
03) The axes move to the position [J01]1000, [J02]1000.
04) The axis moves to the position [J01]2000.
05) The axis moves to the position [J02]2000.
06) The axis moves to the position [J01]1000.
07) The axis moves to the position [J02]1000.
08) The axes move to the position [J01]0, [J02]0.
09) The subprogram is completed and the main program is resumed.
Positioning with linear interpolation is performed while changing the interpola-
tion acceleration time parameter.
01) PROG P006 Q00000003;
02) PARAM P00102 = 1000;
03) MOVEL [J01]10000 [J02]5000 F500000;
04) MOVEL [J01]20000 [J02]-10000;
05) NOPS;
06) #OW0BA0 = 1;
07) WAIT #IW0B00 = = 1;
08) #OW0BA0 = 0;
09) PARAM P00102 = 100;
10) MOVEL [J01]30000 [J02]10000;
11) MOVEL [J01]40000 [J02]20000;
12) MOVEL [J01]0 [J02]0;
13) END;
01) A program No. and axes to be used are specified.
02) The parameter [P00102: Interpolation feed acceleration time] is changed
to 1000 ms.
03) The axes move with linear interpolation and acceleration time of 1000 ms
to the position [J01]10000, [J02]5000.
04) The axes move with linear interpolation and acceleration time of 1000 ms
to the position [J01]20000, [J02] − 10000.
05) to 06) Once positioning is completed, 1 is output to the general output
(OW0BA0).
07) to 08) Once the general input (IW0B00) becomes 1, the general output
(0BA0) is reset.
09) The parameter [P00102: Interpolation feed acceleration time] is changed
to 100 ms.
10) The axes move with linear interpolation and acceleration time of 100 ms
to the position [J01]30000, [J02]10000.
11) The axes move with linear interpolation and acceleration time of 100 ms
to the position [J01]40000, [J02]20000.
12) The axes move with linear interpolation and acceleration time of 100 ms
to the position [J01]0, [J02]0.
13) The program is completed.
Section 10-1