Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 578

Program Example
Explanation of the
program
10-1-25 Target Position Change (MOVEMODI)
Explanation of the
operation
Note
With general input ON
General input
Axis
movement
0
Program
Explanation of the
program
01) A program No. and axes to be used are specified.
02) The axis moves to the position 50000 with linear interpolation.
03) TORQUE command operation is started with 50% of the maximum motor
torque.
04) 1 is output to the general output (OW0BA0).
05) The program will wait until the present position exceeds 150000.
06) TORQUE command operation is completed.
07) The general output (OW0BA0) is reset to 0.
08) The axis moves to the position 200000 with linear interpolation.
09) The program is held for 5 seconds.
10) The axis returns to the origin.
11) The program is completed.
• A target position is changed during positioning.
• In this example, the axis is moving to the position 20000 with linear inter-
polation. The target position (20000) will be changed to the position
40000 if the general input is ON when the axis reaches the position
10000. If the general input is OFF, the target position will remain the same
(20000).
Target positions can be changed only on the axes operated with MOVE com-
mand, or MOVEL command of single axis specification in Stop Mode. (MOVE-
MODI during execution of commands other than the ones mentioned above,
or for axes not operating is ignored.)
10000 20000 40000
Target position
changed
01) PROG P029 Q00000001;
02) STOPMODE;
03) MOVEL [J01]20000 F500000;
04) WAIT #SL0204 >= 10000;
05) IF #IW0B00 == 1;
06) MOVEMODI [J01]40000;
07) ENDIF;
08) DWELL T3000;
09) MOVE [J01]0;
10) END;
01) A program No. and axes to be used are specified.
02) Stop Mode is selected.
03) The axis moves to the position 20000 with linear interpolation.
With general input OFF
General input
Axis
movement
0 10000
Section 10-1
20000 40000
Target position not
changed
555