Omron SYSMAC CS1G Operation Manual page 563

Program Example
10-1-12 Starting Peripherals during Axis Movement
Explanation of the
program
Program
Explanation of the
program
540
• During axis movement, peripherals can be started at specified positions
without stopping the axes.
• This program enables the control of peripherals without stopping the
axes; therefore, high-speed synchronous application can be realized.
• This example shows the operation to start peripherals 1, 2, and 3 accord-
ingly when the present position of [J01] reaches 2500, 5000, and 7500
during linear interpolation with 2 axes.
J02
10000
5000
2500
0
01) PROG P013 Q00000003;
02) MOVEL [J01]0 [J02]0 F300000;
03) #OW0BA0 = 0;
04) #OW0BA1 = 0;
05) #OW0BA2 = 0;
06) WAIT #IW0B00 == 1;
07) MOVEL [J01]10000 [J02]10000;
08) WAIT #SL0206 >= 2500;
09) #OW0BA0 = 1;
10) WAIT #SL0206 >= 5000;
11) #OW0BA1 = 1;
12) WAIT #SL0206 >= 7500;
13) #OW0BA2 = 1;
14) END;
01) A program No. and axes to be used are specified.
02) The axes return to the origin.
03) to 05) The general outputs (OW0BA0 to OW0BA2) are reset to 0.
06) The program will wait until the general input (IW0B00) becomes 1.
07) Positioning with linear interpolation is performed to the position
[J01]10000, [J02]10000.
08) to 09) When [J01] reaches 2500, 1 will be output to the general output
(OW0BA0).
10) to 11) When [J01] reaches 5000, 1 will be output to the general output
(OW0BA1).
12) to 13) When [J01] reaches 7500, 1 will be output to the general output
(OW0BA2).
14) The program is completed.
7500
J01
10000
Section 10-1