Movemodify - Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual

BASIC commands
Example A flying shear cuts a roll of paper every 160 m while moving at the speed of
the paper. The shear is able to travel up to 1.2 m of which 1 m is used in this
example. The paper distance is measured by an encoder, the unit conversion
factor being set to give units of metres on both axes. Axis 1 is the link axis.
MOVELINK(0,150,0,0,1) ' wait distance
MOVELINK(0.4,0.8,0.8,0,1) ' accelerate
MOVELINK(0.6,1.0,0,0.8,1) ' match speed then decelerate
WAIT UNTIL NTYPE=0 ' wait till last move started
OP(8,ON) ' activate cutter
MOVELINK(-1,8.2,0.5,0.5,1) ' move back
In this program, the TJ1-MC__ waits for the roll to feed out 150 m in the first
line. At this distance, the shear accelerates to the speed of the paper, coasts
at the same speed, then decelerates to a stop within a 1 m stroke. This
movement is specified using two separate MOVELINK commands. The pro-
gram then waits for the next move buffer to be clear NTYPE=0. This indicates
that the acceleration phase is complete. The distances on the link axis
(link_distance) in the MOVELINK commands are 150, 0.8, 1.0, and 8.2,
which add up to 160 m.
To ensure that the speeds and positions of the cutter and paper match during
the cut task, the arguments of the MOVELINK command must be correct.
Hint: Consider the acceleration, constant speed and deceleration phases
separately. As stated, the acceleration and deceleration phases require the
link_distance to be twice the distance. Both phases can be specified as:
MOVELINK(0.4,0.8,0.8,0,1) ' This move is all accel
MOVELINK(0.4,0.8,0,0.8,1) ' This move is all decel
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. The
constant speed phase can be specified as follows:
MOVELINK(0.2,0.2,0,0,1) ' This is all constant speed
The MOVELINK command lets the three sections to be added by summing
the distance, link_distance, link_acceleration and link_deceleration for
each phase, to produce the command as follows.
MOVELINK(1,1.8,0.8,0.8,1)
In the program above, the acceleration phase is programmed separately.
This is done to let an action be done at the end of the acceleration phase.
MOVELINK(0.4,0.8,0.8,0,1)
MOVELINK(0.6,1.0,0,0.8,1)
See also AXIS, UNITS, REP_OPTION.
PROGRAMMING MANUAL
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Link option Description
1 Link starts when registration event occurs on link axis.
2 Link starts at an absolute position on link axis (see link_position).
4 MOVELINK repeats automatically and bidirectionally. This option is can-
celled by setting bit 1 of REP_OPTION parameter (that is, REP_OPTION =
REP_OPTION OR 2).
5 Combination of options 1 and 4.
6 Combination of options 2 and 4.

3.2.181 MOVEMODIFY

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Type Axis command
Syntax MOVEMODIFY(position)
MM(position)
Description The MOVEMODIFY command changes the absolute end position of the cur-
rent single-axis linear move (MOVE or MOVEABS). If there is no current
move or the current move is not a linear move, then MOVEMODIFY is treated
as a MOVEABS command. The ENDMOVE parameter will contain the posi-
tion of the end of the current move in user units.
MOVEMODIFY works on the default basis axis (set with BASE) unless AXIS
is used to specify a temporary base axis.
Arguments • position
The absolute position to be set as the new end of move.
Example No example.
See also AXIS, MOVE, MOVEABS, UNITS.
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