Omron trajexia CJ1W-MCH72 Operation Manual page 210

All BASIC commands
4-2-162 MOVELINK
/i
Type Axis command
Syntax MOVELINK(distance,
link_deceleration, link_axis [ , link_option [ , link_position ]])
ML(distance, link_distance, link_acceleration, link_deceleration,
link_axis [ , link_option [ , link_position ]])
Description The MOVELINK command creates a linear move on the base axis
linked via a software gearbox to the measured position of a link axis.
The link axis can move in either direction to drive the output motion.
The parameters show the distance the BASE axis moves for a certain
distance of the link axis (link_distance). The link axis distance is
divided into three phases that apply to the movement of the base axis.
These parts are the acceleration, the constant speed and the decelera-
tion. The link acceleration and deceleration distances are specified by
the link_acceleration and link_deceleration parameters. The con-
stant speed link distance is derived from the total link distance and
these two parameters.
The three phases can be divided into separate MOVELINK commands
or can be added up together into one.
Consider the following two rules when setting up the MOVELINK com-
mand.
Rule 1: In an acceleration and deceleration phase with matching speed,
the link_distance must be twice the distance. See the figure.
Rule 2: In a constant speed phase with matching speeds, the two axes
travel the same distance so the distance to move must equal the
link_distance.
MOVELINK works on the default basis axis group (set with BASE)
unless AXIS is used to specify a temporary base axis. The axis set for
link_axis drives the base axis.
MOVELINK is designed for controlling movements such as:
• Synchronization to conveyors
• Flying shears
• Thread chasing, tapping etc.
• Coil winding
Note: If the sum of link_acceleration and link_deceleration is greater
than link_distance, they are both reduced in proportion in order to
equal the sum to link_distance.
link_distance, link_acceleration,
Section 4-2
199