Omron trajexia CJ1W-MCH72 Operation Manual page 323

How-to's
312
correction, an error of 0.1 mm per bag is accumulated. With a small number of
bags the difference is not visible, but after 500 bags the error is 50 mm, which
is a 25% of the bag length.
When working with registration marks, the motion controller executes an
incremental movement to a certain position. If during the positioning the
registration mark is detected, the target position is changed on the fly in order
to finish the movement at a defined position after the registration mark.
Therefore, the same distance in respect to the registration mark is always
guaranteed.
Feeder
speed
1- The rising edge of
the registration captures
the feeder position
The motion profile and its modification due to the registration mark are shown
in .
The BASIC program for this example is:
DEFPOS(0)
REGIST(3)
MOVE(bag_length) 'Move to the theoretical distance
WA(1)
WAIT UNTIL MARK OR MTYPE=0
IF MARK THEN
end_position=REG_POS+distance_after_mark
MOVEMODIFY(end_position)
'Correct the distance according to the mark
ENDIF
D
2- The new target position is recalculated:
TARGET POS=CAPTURED POS+"D"
The area below the graph
(distance) is "D"
'Trigger the mark registration
Section 5-1
t
t