Omron CS1W-MCH71 Operation Manual page 632

Program Example
Program
Explanation of the
program
10-1-12 Starting Peripherals during Axis Movement
Explanation of the
program
Program
01) PROG P011 Q00000001;
02) WORK C1;
03) OFFPOS C1 [J01]#SL0206;
04) INC MOVE [J01]1000;
05) NOPS;
06) END;
01) The program number and axes to be used are specified.
02) The workpiece coordinate system (C1) is enabled.
03) The workpiece coordinate system (C1) offset is changed to the machine
coordinate system present position (SL0206) (i.e., the workpiece coordi-
nate system is preset).
04) Positioning with PTP control is performed from the present position to the
position [J01] 1000.
05) Stepping is stopped until the positioning in step 04 is completed.
06) The program is completed.
• During axis movement, peripherals can be started at specified positions
without stopping the axes.
• This program enables the control of peripherals without stopping the
axes; therefore, high-speed synchronous application can be realized.
• This example shows the operation to start peripherals 1, 2, and 3 accord-
ingly when the present position of [J01] reaches 2500, 5000, and 7500
during linear interpolation with 2 axes.
J02
10000
5000
2500
0
01) PROG P013 Q00000003;
02) MOVEL [J01]0 [J02]0 F300000;
03) #OW0BA0 = 0;
04) #OW0BA1 = 0;
05) #OW0BA2 = 0;
06) WAIT #IW0B00 = = 1;
07) MOVEL [J01]10000 [J02]10000;
08) WAIT #SL0206 > = 2500;
09) #OW0BA0 = 1;
10) WAIT #SL0206 > = 5000;
11) #OW0BA1 = 1;
12) WAIT #SL0206 > = 7500;
13) #OW0BA2 = 1;
14) END;
7500
J01
10000
Section 10-1
587