Omron trajexia CJ1W-MCH72 Operation Manual page 213

All BASIC commands
202
Rule 1: In an acceleration phase to a matching speed, the link distance
must be twice the movement distance. Therefore, the acceleration
phase can be specified alone as:
MOVELINK(0.3,0.6,0.6,0,1)' move is all accel
Rule 2: In a constant speed phase with matching speed, the two axes
move the same distance. Therefore, the distance to move must be
equal the link distance. Therefore, the constant speed phase can be
specified as:
MOVELINK(0.4,0.4,0,0,1)' all constant speed
The deceleration phase is set in this case to match the acceleration:
MOVELINK(0.3,0.6,0,0.6,1)' all decel
The movements of each phase can be added to give the total move-
ment.
MOVELINK(1,1.6,0.6,0.6,1)' Same as 3 moves above
But in the example above, the acceleration phase is kept separate:
MOVELINK(0.3,0.6,0.6,0,1)
MOVELINK(0.7,1.0,0,0.6,1)
This allows the output to be switched on at the end of the acceleration
phase.
Example MOVELINK can be used to create an exact ratio gearbox between two
axes. Suppose it is required to create a gearbox link of 4000/3072. This
ratio is inexact (1.30208333). If this ratio is entered into a CONNECT
command, the axes will slowly creep out of synchronisation. To prevent
this problem, set the "link option" to 4 to make MOVELINK repeat con-
tinuously.
MOVELINK(4000,3072,0,0,linkaxis,4)
NON-SERVO
SPINDLE MOTOR
ENCODER
AXIS 1
SERVO MOTOR
Section 4-2
AXIS 0