Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 271

Program and Task Configuration
Axis parameter P5AA02
P5AA04
P5AA05
P5AA06
Motor parameter 9001h
Pulse [on motor] =
Processing Required
When the Command
Execution Completion for
MOVELINK, CAMBOX Is
Set to "At the Same Time
with the Command Start"
248
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:
9001h [No. of encoder pulses/1 motor rotation] ×
Command unit
P5AA05 [on motor]
[on machine] ×
P5AA04 [command unit/1 machine rotation] ×
P5AA06 [on machine]
• No. of pulses for the linking distance of the master axis [J01]:
When 100. of [J01] is converted from the immediate value to the com-
mand unit,
Command unit = 100. / 0.01 (unit of P5AA02) = 10000 [on machine]
Put the result in the formula (1):
Pulse [on motor] =10000 [on machine] × (65536 × 5) / (36000 × 1)
• No. of pulses for the linking distance of the slave axis [J02]:
Pulse [on motor] = 6000 [on machine] × (65536 × 1) / (36000 × 1)
According to the results (2) and (3), the relations between the master axis
[J01] and the slave axis [J02] on the travel distance (pulse) within the link-
ing distance is:
Master axis [J01] Slave axis [J02]
91022 [pulse] > 10922 [pulse]
In this case, the travel distance of the master axis is larger than the one of
the slave axis. Thus, the condition "Master axis travel distance > Slave axis
travel distance" is satisfied.
By setting the link option of the synchronous commands MOVELINK and
CAMBOX to "At the same time with the command start" for the command exe-
cution completion, the program can execute a single execution command
(axis movement, etc.) on a slave axis different from the one previously used.
However, when a new single execution command such as axis movement,
etc. is to be executed after completion of the previous synchronous operation,
the operation of the new command is started (specifying the same slave axis
as the one previously, or currently being used causes an alarm.) before the
synchronous operation is completed unless a program that monitors comple-
tion of the synchronous operation is arranged. The following is the program
example.
= 91022.22 = 91022 [pulse] --- (2)
= 10922.6 = 10922 [pulse] --- (3)
Section 6-1
[J01] [J02]
2 4
36000 100000
5 1
1 1
65536 65536
--- (1)