Omron trajexia CJ1W-MCH72 Operation Manual page 354

Practical examples
5-2-9 Flying shear program
5-2-9-1 Example
Axis 1
An example of the Flying shear program. In this application there are three
axes:
• Axis 0, shear_axis, the advancement of the shear.
• Axis 1, flying_axis, is the flying shear.
• Axis 2, line_axis, transports the material.
Material feeder (Master)
ZERO POSITION
Initial situation: material to cut and shear both in the zero position
MOVELINK(0, cut_length – l_acc / 2, 0, 0, line_axis)
cut_lenght – l_acc / 2
1
MOVELINK(synch_dist + l_acc + l_dec, synch_dist + l_acc / 2 + l_dec/2, l_acc, l_dec, line_axis)
l_acc / 2
2
Just after synchronization (cut operation is done on the fly during synchronization)
3
l_acc / 2 + synch_dist
Just after deceleration
l_acc / 2 + synch_dist + l_dec / 2
4
MOVELINK(–l_acc / 2 – synch_dist – l_dec / 2, cut_lenght – synch_dist – l_dec – l_acc, l_acc / 4, l_dec / 4, line_axis)
5
Cut_length-l_acc / 2
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Axis 2
Flying shear axis (slave)
Cut_length
Cut_length
Cut_length
l_dec / 2
Section 5-2
Axis 0
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