Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 562

Program Example
Program
Explanation of the
program
J02
40000
30000
20000
10000
0
10000 20000
01) PROG P012 Q00000003;
02) PASSMODE;
03) #IW04C0 = 2000;
04) #IW04C1 = 2000;
05) MOVEL [J01]20000 [J02]10000 F300000;
06) #IW04C0 = 6000;
07) #IW04C1 = 6000;
08) MOVEC Q-1 [J01]30000 [J02]20000 R10000;
09) #IW04C0 = 2000;
10) #IW04C1 = 2000;
11) MOVEL [J02]30000;
12) #IW04C0 = 6000;
13) #IW04C1 = 6000;
14) MOVEC Q1 [J01]40000 [J02]40000 I0 J10000;
15) #IW04C0 = 0;
16) #IW04C1 = 0;
17) END;
01) A program No. and axes to be used are specified.
02) Pass Mode is selected.
03) to 04) The feed forward gain of 20% is set.
05) The axes move to the position [J01]20000, [J02]10000 with linear interpo-
lation.
06) to 07) The feed forward gain of 60% is set.
08) The axes move in CCW direction to the position [J01]30000, [J02]20000
with circular interpolation of radius "10000".
09) to 10) The feed forward gain of 20% is set.
11) The axes move to the position [J01]30000, [J02]30000 with linear interpo-
lation.
12) to 13) The feed forward gain of 60% is set.
14) The axes move in CW direction to the position [J01]40000, [J02]40000
with circular interpolation having the position [J01]30000, [J02]40000 as
its center.
15) to 16) The feed forward gain of 0% is set.
17) The program is completed.
J01
30000 40000
Section 10-1
539