Rapidstop - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
Arguments:
See also:
Example:

6-3-149 RAPIDSTOP

Type:
Syntax:
Alternative:
switch
The switch number. Range: [0,15].
enable
The switch enable. Range: [ON, OFF].
axis
The number of the axis providing the position input.
output_number
The physical output to set. Range: [8,31].
output_state
The state to output. Range: [ON, OFF].
set_position
The absolute position in user units at which output is set.
reset_position
The absolute position in user units at which output is reset.
OP, UNITS
A rotating shaft has a cam operated switch which has to be changed for differ-
ent size work pieces. There is also a proximity switch on the shaft to indicate
the TDC of the machine. With a mechanical cam, the change from job to job is
time consuming. This can be eased by using PSWITCH as a software cam
switch. The proximity switch is wired to input 7 and the output is output 11.
The shaft is controlled by axis 0. The motor has a 900ppr encoder. The output
must be on from 80 units.
PSWITCH uses the unit conversion factor to allow the positions to be set in
convenient units. First the unit conversion factor must be calculated and set.
Each pulse on an encoder gives four edges for the MC Unit to count. There
are thus 3,600 edges/rev or 10 edges/degree. If we set the unit conversion
factor to 10, we can work in degrees.
Next we have to determine a value for all the PSWITCH arguments.
sw The switch number can be any switch that is not in use. In
this example, we will use number 0.
en The switch must be enabled to work; set the enable to 1.
axis The shaft is controlled by axis 0.
opno
The output being controlled is output 11.
opst
The output must be on so set to 1.
setpos The output is to produced at 80 units.
rspos The output is to be on for a period of 120 units.
This can all be put together in the following lines of BASIC code:
switch:
UNITS AXIS(0) = 10
REPDIST = 360
REP_OPTION = ON
PSWITCH(0,ON,0,11,ON,80,200)
This program uses the repeat distance set to 360 degrees and the repeat
option ON so that the axis position will be maintained between 0 and 360
degrees.
Motion Control Command
RAPIDSTOP
RS
Section 6-3
'Set unit conversion factor
173