Omron TJ2-MC64 - PROGRAMMING Programming Manual page 151

BASIC commands
Rule 1: In an acceleration phase to a matching speed, the link distance must
be twice the movement distance. Therefore, the acceleration phase can be
specified alone as:
MOVELINK(0.3,0.6,0.6,0,1)' move is all accel
Rule 2: In a constant speed phase with matching speed, the two axes move
the same distance. Therefore, the distance to move must be equal the link
distance. Therefore, the constant speed phase can be specified as:
MOVELINK(0.4,0.4,0,0,1)' all constant speed
The deceleration phase is set in this case to match the acceleration:
MOVELINK(0.3,0.6,0,0.6,1)' all decel
The movements of each phase can be added to give the total movement.
MOVELINK(1,1.6,0.6,0.6,1)' Same as 3 moves above
But in the example above, the acceleration phase is kept separate:
MOVELINK(0.3,0.6,0.6,0,1)
MOVELINK(0.7,1.0,0,0.6,1)
This allows the output to be switched on at the end of the acceleration phase.
Example MOVELINK can be used to create an exact ratio gearbox between two axes.
Suppose it is required to create a gearbox link of 4000/3072. This ratio is
inexact (1.30208333). If this ratio is entered into a CONNECT command, the
axes will slowly creep out of synchronisation. To prevent this problem, set the
"link option" to 4 to make MOVELINK repeat continuously.
MOVELINK(4000,3072,0,0,linkaxis,4)
PROGRAMMING MANUAL 145