Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 566

Program Example
10-1-15 Time-specified Positioning (MOVET)
Explanation of the
operation
Attention
Program
Explanation of the
program
• This program is used to perform positioning within a specified time period.
• This example shows the following operation; the axes move to the posi-
tion [J01]10000, [J02]20000 in 3 seconds and 1 is output to the general
output. When the general input becomes 1, the general output is cleared
to 0. Finally, the axes return to the origin in 6 seconds.
• When the speed of the axis exceeds the maximum rapid feed rate
(P2AA01), the alarm [200Bh: Time specification error] will occur.
• If override other than 100% is used, the specified time period cannot be
kept.
J02
20000
3 sec
0
01) PROG P019 Q00000003;
02) MOVE [J01]0 [J02]0;
03) MOVET [J01]10000 [J02]20000 T3000;
04) NOPS;
05) #OW0BA0 = 1;
06) WAIT #IW0B00 == 1;
07) #OW0BA0 = 0;
08) MOVET [J01]0 [J02]0 T6000;
09) END;
01) A program No. and axes to be used are specified.
02) The axes return to the origin.
03) Positioning is performed to the position [J01]10000, [J02]20000 in 3 sec-
onds.
04) to 05) After completion of positioning, 1 is output to the general output
(OW0BA0).
06) The program advance will be held until the general input (IW0B00)
becomes 1.
07) The general output (OW0BA0) is cleared to 0.
08) With MOVET command, the axes return to the origin in 6 seconds.
09) The program is completed.
6 sec
J01
10000
Section 10-1
543