Omron CS1W-MCH71 Operation Manual page 633

Program Example
Explanation of the
program
10-1-13 High-speed Positioning
Explanation of the
operation
Program
Explanation of the
program
588
01) A program No. and axes to be used are specified.
02) The axes return to the origin.
03) to 05) The general outputs (OW0BA0 to OW0BA2) are reset to 0.
06) The program will wait until the general input (IW0B00) becomes 1.
07) Positioning with linear interpolation is performed to the position
[J01]10000, [J02]10000.
08) to 09) When [J01] reaches 2500, 1 will be output to the general output
(OW0BA0).
10) to 11) When [J01] reaches 5000, 1 will be output to the general output
(OW0BA1).
12) to 13) When [J01] reaches 7500, 1 will be output to the general output
(OW0BA2).
14) The program is completed.
• The CPU Unit reads the present position of a work from a visual sensor
and writes the compensated value into the MC Unit after calculation. After
receiving the value, the MC Unit performs positioning to the position cor-
responding to the value.
• The CPU Unit transmits 2 of position data to the MC Unit using IOWR
instruction and starts the MC Unit immediately.
• In this case, the data transfer to the MC Unit and the command for posi-
tioning can be executed within 1 scan.
01) PROG P014 Q00000003;
02) WHILE #IW0B00 <> 1;
03) MOVEL [J01]0 [J02]0 F300000;
04) NOPS;
05) #OW0BA0 = 1;
06) WAIT #IW0B01 = = 1;
07) #OW0BA0 = 0;
08) MOVEL [J01]#PL0000 [J02]#PL0001;
09) NOPS;
10) #OW0BA1 = 1;
11) WAIT #IW0B02 = = 1;
12) #OW0BA1 = 0;
13) WEND;
14) END;
01) A program No. and axes to be used are specified.
02) With WHILE command, the process through 02) to 13) is repeated when
the general input (IW0B00) is not 1.
03) The axes return to the origin.
04) to 05) After completion of positioning in 03), 1 is output to the general out-
put (OW0BA0).
06) The program advance will be held until the general input (IW0B01)
becomes 1.
07) The general output (OW0BA0) is cleared to 0.
08) The axes move to the position read from the CPU Unit using IOWR
instruction.
09) to 10) After completion of positioning in 08), 1 is output to the general out-
put (OW0BA1).
Section 10-1