Omron CS1W-MCH71 Operation Manual page 318

Basic Information
Axis parameter P5AA02
P5AA04
P5AA05
P5AA06
Motor parameter 9001h
Especially when the master and slave axes are in different tasks, or in dif-
ferent blocks of parallel branching, provide interlocking, etc. so that the
master axis starts operating only after all the slave axes have recognized
and processed the command.
Program example
PROG P000 Q00000003;
MOVELINK [J02]#PL0002 [J01]20. A10. D10. Q5 I0. B0; Sync condition set
#MW0004 = 1;
END;
PROG P001 Q00000004;
WAIT #MW0004 == 1;
MOVEL [J03]#PL0000 F#DL0000;
END;
2. Set the resolution for the master axis of the synchronous command higher
than the one of slave axes.
Since slave axes cannot operate with the unit system smaller than the one
of the master axis, setting a larger travel distance for slave axes than the
travel distance 1 of the master axis causes off-and-on operations. Make
sure to set parameters so that "Master axis travel distance > Slave axes
travel distance" is true.
In this case, the problem lies not in the resolution for 1 motor rotation on
each motor, but in the relations on travel distances between the master and
slave axes in synchronization.
An example is shown using the following parameters.
Parameter setting value
Position command decimal point position
Command unit/1 machine rotation
Gear ratio 1 (motor rotation speed)
Gear ratio 2 (machine rotation speed)
No. of encoder pulses (×4)
Program
MOVELINK [J02]6000 [J01]100. A50. D50. Q5 I0. B0;
According to the conditions mentioned above, the travel distance (pulse) of
each axis for linking distance will be as follows:
MOVELINK execution notify flag to task 2 set
MOVELINK execution of task 1 confirmed
Starting master axis
Section 6-1
[J01] [J02]
2 4
36000 100000
5 1
1 1
65536 65536
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