Movelink - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands

3.2.180 MOVELINK

/i
Type Axis command
Syntax MOVELINK(distance, link_distance, link_acceleration,
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 deceleration. The link acceleration
and deceleration distances are specified by the link_acceleration and
link_deceleration parameters. The constant 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 command.
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.
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.
PROGRAMMING MANUAL
Arguments
• distance
The incremental distance in user units to move the base axis, as a result
of the measured link_distance movement on the link axis.
• link_distance
The positive incremental distance in user units that is required to be
measured on the link axis to result in the distance motion on the base
axis.
• link_acceleration
The positive incremental distance in user units on the link axis over
which the base axis will accelerate.
• link_deceleration
The positive incremental distance in user units on the link axis over
which the base axis will decelerate.
Note: If the sum of parameter 3 and parameter 4 is greater than parame-
ter 2, they are both reduced in proportion until the equal parameter 2.
• link axis
The axis to link to.
• link_option
See the table below.
• link_position
The absolute position where MOVELINK will start when link_option is
set to 2
Note: The command uses the BASE() and AXIS(), and unit conversion fac-
tors in a similar way to other MOVE commands.
Note: The "link" axis may move in either direction to drive the output motion.
The link distances specified are always positive.
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