Omron trajexia CJ1W-MCH72 Operation Manual page 197

All BASIC commands
4-2-155 MERGE
4-2-156 MHELICAL
186
/i
Type Axis parameter
Syntax MERGE
Description The MERGE parameter is a software switch that can be used to enable
or disable the merging of consecutive moves. When MERGE is ON and
the next move already in the next move buffer (NTYPE), the axis will not
ramp down to 0 speed but will load up the following move enabling a
seamless merge. The default setting of MERGE is OFF.
It is up to the programmer to ensure that merging is sensible. For exam-
ple, merging a forward move with a reverse move will cause an
attempted instantaneous change of direction.
MERGE will only function if the following are all true:
1 Only the speed profiled moves MOVE, MOVEABS, MOVECIRC,
MHELICAL, REVERSE, FORWARD and MOVEMODIFY can be
merged with each other. They cannot be merged with linked moves
CONNECT, MOVELINK and CAMBOX.
2 There is a move in the next move buffer (NTYPE).
3 The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis
parameter needs to be set.
Note: If the moves are short, a high deceleration rate must be set to
avoid the CJ1W-MCH72 decelerating in anticipation of the end of the
buffered move.
Arguments N/A
Example MERGE = OFF ' Decelerate at the end of each move
MERGE = ON ' Moves will be merged if possible
See also AXIS.
/i
Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3
[,mode]))
MH(end1, end2, centre1, centre2, direction, distance3 [,mode])
Description Performs a helical move, that is, moves 2 orthogonal axes in such a
way as to produce a circular arc at the tool point with a simultaneous lin-
ear move on a third axis. The first 5 parameters are similar to those of a
MOVECIRC command. The sixth parameter defines the simultaneous
linear move.
Finish 1 and centre 1 are on the current BASE axis. Finish 2 and centre
2 are on the following axis.
The first 4 distance parameters are scaled according to the current unit
conversion factor for the BASE axis. The sixth parameter uses its own
axis units.
Section 4-2