Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 596

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Example 2
ENDIF;
IF #SL0244>20000; Torque in Axis 2
#MB00001=1;
ELSE;
#MB00001=0;
ENDIF;
IF #SL0274>20000; Torque in Axis 3
#MB00002=1;
ELSE;
#MB00002=0;
ENDIF;
;If any of the drives has a torque bigger than 200% we set a bit
;in an output variable (for PLC control)
IF #MW0000>0;
#OB0BA20=1;
ENDIF;
WED;
JOINT;
;Pick and place sequence:
; - Go to 'pick piece' position
MOVEL[J01]500 [J02]300 F200;
; - Pick the piece
MOVE [J03]50;
WAIT #IB0B001==1; Bit for 'Down operation completed'
MOVE [J03]0;
WAIT #IB0B002==1; Bit for 'Pick/place operation completed
; - Go to 'place piece' position
MOVEL[J01]0 [J02]0 F100;
; - Place the piece
MOVE [J03]50;
WAIT #IB0B001==1;
MOVE [J03]0;
WAIT #IB0B002==1;
;Flag to indicate that the cycle has finished
#DB00000=1;
JWAIT;
ENDIF;
WEND;
END;
This example is the motion program for a 'Bag making' machine. The machine
consist in a feeding roll that feeds the bag plastic film that is soldered and cut-
ted. The program receives two data from the MMI (via the PC backplane): the
feed length and the speed in bags/minute. With this data the program calcu-
lates, in a sub-program, the suitable profile (acceleration and deceleration
ramps and maximum speed). The machine has two operation modes: without
mark, that is, making a fixed movement; or with mark, that is, correcting the
movement depending on the position of a printed mark. The cutter is activated
by the program via a flag (bit).
The program for a real machine will need some modification as windowing of
the registration mark, undetected marks alarm counter, etc.
PROG P005 Q00000001;Bag making
;--------------------------------------------------------------------------------
;Bag making with mark needs to configure a registration input in the
servodrive
;it is necessary to set P50108 (eg=xxxxxx03h) and Pn511 (eg=6xxxh)
Section 10-3
573