Omron SYSMAC CJ Operation Manual page 356

Practical examples
344
'FLYING SHEAR program
'=================================================
'Typical example of a flying shear application.
'One axis (line_axis) transport the material
'Second axis (flying_axis) is the flying shear itself
'Third axis (shear_axis) is the shear advancement
'The distance in synchronization must be long enough
'to allow the cut at maximum speed.
'The return of the flying shear is done at such a
'speed that the wait time is zero (optimization of
'the movement).
'Again it is assumed that everithing has been
'calculated to not exceed the maximum motor speed at
'maximum line speed
'==================================================
cut_counter=0
line_axis=2
shear_axis=0
flying_axis=1
SERVO AXIS(line_axis)=ON
SERVO AXIS(flying_axis)=ON
SERVO AXIS(shear_axis)=ON
WDOG=ON
'FIRST CYCLE
'Make a first material cut
MOVEABS(end_pos) AXIS(shear_axis)
WAIT UNTIL MTYPE AXIS(shear_axis)=2
WAIT IDLE AXIS(shear_axis)
'First time we have a certain wait time because the
'material has been just been cut
wait_distance=cut_lenght-l_acc/2
MOVELINK(0,wait_distance,0,0,line_axis) AXIS(flying_axis)
WAIT UNTIL MTYPE AXIS(flying_axis)=22
'We start the line
FORWARD AXIS(line_axis)
loop:
'Update the line speed every cycle
SPEED AXIS(line_axis)=line_speed
'Cutting movement at synchronized speed
line_cut=synch_dist+l_acc+l_dec
shear_cut=synch_dist+l_acc/2+l_dec/2
MOVELINK(shear_cut,line_cut,l_acc,l_dec,line_axis)
AXIS(flying_axis)
WAIT UNTIL MPOS AXIS(flying_axis)>l_acc/2
'Activate the shear when it is in synchronization with
'the line
'Slow speed to cut
Section 5-2