Others - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Others

10-3 Others
Example 1
572
#OB00304 = 0;
#OB00305 = 0;
#OB00306 = 0;
#OB00307 = 0;
END;
This program may be the automatic operation of a simple 'pick and place'
machine (eg., PCB mounting machine). The real machine will need another
motion programs as 'homing sequence', 'manual operation' and PC program.
PROG P004 Q00000007;Pick & Place
;--------------------------------------------------------------------------------
;The application consist on a pick and place operation with high
torque detection
;in the axes to detect mechanical lockings.
;Axes 1 & 2 are an X-Y table and Axis 3 is the vertical axis. Two sen-
sors confirm
;that the vertical axis is in the 'up' or 'down' position.
;--------------------------------------------------------------------------------
;The example shows:
; - Simple PTP movements
; - Parallel programming
; - Use of different variables
;--------------------------------------------------------------------------------
;Variable initialization
#OB0BA20=0;
#MW0000=0;
;
ABL;
;
;Set the axes to RUN
#IB04402=1; AXIS1 on
#IB04412=1; AXIS2 on
#IB04422=1; AXIS3 on
WAIT #OB04403==1; Wait for confirmation AX1
WAIT #OB04413==1; Wait for confirmation AX2
WAIT #OB04423==1; Wait for confirmation AX3
#IB04402=0;
#IB04412=0;
#IB04422=0;
;
;Infinite operation loop
WHILE 1==1;
IF #IB0B020==1; Bit0 in Input variable 2 (from PLC) is the 'start' sig-
nal
#DB00000=0;
;In parallel we are checking the current in the drives
;and making the movement
PARALLEL N2;
WHILE #DB00000==0;
IF #SL0214>20000; Torque in Axis 1
#MB00000=1;
ELSE;
#MB00000=0;
Parameter No. specification (00)
Parameter No. specification (00)
Parameter No. specification (00)
Parameter No. specification (00)
Section 10-3