Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 570

Program Example
10-1-18 Link Operation (MOVELINK)
Explanation of the
operation
Program
Explanation of the
program
• Positioning is performed with a slave axis synchronizing to a specified
master axis.
• In this example, the master axis will start operating when the general
input becomes 1. The slave axis will start synchronization when the mas-
ter axis reaches the position 15000. In this synchronization, the slave axis
travels for 30000 while the master axis travels for 60000. 1 will be output
to the general output once the master axis reaches the position 90000.
The link operation is repeated with WHILE command.
Master axis
Slave axis
Link start position
01) PROG P017 Q00000003;
02) #PL0010 = 0;
03) WHILE #IW0B00 <> 1;
04) OFFPOS C1 [J01]#PL0010;
05) WORK C1;
06) WAIT #IW0B01 == 1;
07) MOVELINK [J02]30000 [J01]60000 A1000 D1000 Q5 I5000;
08) INC MOVEL [J01]90000 F300000;
09) NOPS;
10) #OW0BA0 = 1;
11) WAIT #IW0B01 == 0;
12) #OW0BA0 = 0;
13) #PL0010 = #SL0206;
14) WEND;
15) END;
01) A program No. and axes to be used are specified.
02) The position data used as a workpiece coordinate is cleared to 0.
03) When the general input (IW0B00) is not 1, the process through 03) to 14)
is repeated.
04) to 05) The workpiece coordinate system (C1) is enabled.
06) The program will wait until the general input (IW0B01) becomes 1.
07) The link operation, in which the slave axis travels for 30000 while the mas-
ter travels for 60000, is performed. The link start position is 5000.
(The slave starts synchronization once the master reaches the position
15000.)
08) The master axis moves from the present position to the position 90000
with linear interpolation.
09) to 10) After positioning is completed, 1 will be output to the general output
(OW0BA0).
Section 10-1
Link distance
547