Omron SYSMAC CS1G Operation Manual page 564

Program Example
10-1-13 High-speed Positioning
Explanation of the
operation
Program
Explanation of the
program
10-1-14 Interrupt Feeding (MOVEI)
Explanation of the
operation
• The CPU Unit reads the present position of a work from a visual sensor
and writes the compensated value into the MC Unit after calculation. After
receiving the value, the MC Unit performs positioning to the position cor-
responding to the value.
• The CPU Unit transmits 2 of position data to the MC Unit using IOWR
instruction and starts the MC Unit immediately.
• In this case, the data transfer to the MC Unit and the command for posi-
tioning can be executed within 1 scan.
01) PROG P014 Q00000003;
02) WHILE #IW0B00 <> 1;
03) MOVEL [J01]0 [J02]0 F300000;
04) NOPS;
05) #OW0BA0 = 1;
06) WAIT #IW0B01 == 1;
07) #OW0BA0 = 0;
08) MOVEL [J01]#PL0000 [J02]#PL0001;
09) NOPS;
10) #OW0BA1 = 1;
11) WAIT #IW0B02 == 1;
12) #OW0BA1 = 0;
13) WEND;
14) END;
01) A program No. and axes to be used are specified.
02) With WHILE command, the process through 02) to 13) is repeated when
the general input (IW0B00) is not 1.
03) The axes return to the origin.
04) to 05) After completion of positioning in 03), 1 is output to the general out-
put (OW0BA0).
06) The program advance will be held until the general input (IW0B01)
becomes 1.
07) The general output (OW0BA0) is cleared to 0.
08) The axes move to the position read from the CPU Unit using IOWR
instruction.
09) to 10) After completion of positioning in 08), 1 is output to the general out-
put (OW0BA1).
11) The program advance will be held until the general input (IW0B02)
becomes 1.
12) The general output (OW0BA1) is cleared to 0.
13) This is the end of WHILE command from 02).
14) The program is completed.
Positioning of [J01] to 100000 is performed. (A position exceeding the target
position)
Turning ON an external input stops the axis with interrupt feeding.
When positioning of [J01] is completed, other axes start operating. When
other axes complete their operations, [J01] returns to the origin and 1 is out-
put to the general output.
Section 10-1
541