Omron CS1W-MCH71 Operation Manual page 642

Program Example
Explanation of the
program
10-1-21 Trailing Synchronization/Synchronization Cancel (SYNC/SYNCR)
Explanation of the
operation
Program 1
01) A program No. and axes to be used are specified.
02) The gear ratio of 1 to 2 is set.
03) The master axis moves to the position 50000 at 500 rpm. (The slave syn-
chronizes to the master and moves at 250 rpm.)
04) The operation is held for 3 seconds.
05) The gear ratio of 1 to 1 is set.
06) The master axis moves to the position 100000 at 500 rpm. (The slave
synchronizes to the master and moves at 500 rpm.)
07) The operation is held for 3 seconds.
08) The gear ratio of 2 to 1 is set.
09) The master axis moves to the position 150000 at 500 rpm. (The slave
synchronizes to the master and moves at 1000 rpm.)
10) The operation is held for 3 seconds.
11) The synchronization is canceled.
12) The axes return to the origin.
13) The program is completed.
• The slave axis will start trailing the master axis when the marker sensor
(external input) turns ON. When it catches up with the master axis, syn-
chronization with the ratio of 1 to 1 will be performed.
• In this example, trailing synchronization is performed with the slave exe-
cuted by the motion task 1 and the master executed by the motion task 2.
(The program starts the slave first, and then the master.)
Master axis
Slave axis
SYNC
command
(Slave axis)
01) PROG P023 Q00000002;
02) SYNC [J02]5000 [J01]10000;
03) WAIT #SL0202 > = 80000;
04) SYNCR [J02];
05) WAIT #ML0000 = = 1;
06) MOVEL [J02]0 F500000;
07) END;
Trailing Trailing synchronization
interval interval
Travel distance
for trailing
Marker
sensor ON
Section 10-1
SYNCR
command
597