Omron TJ2-MC64 - PROGRAMMING Programming Manual page 154

BASIC commands
/i
Example A paper feed system slips. To counteract this, a proximity sensor is positioned
one third of the way into the movement. This detects at which position the
paper passes, and thus how much slip has occurred. The move is then modi-
fied to account for this variation.
paper_length=4000
DEFPOS(0)
REGIST(3)
MOVE(paper_length)
WAIT UNTIL MARK
slip=REG_POS-(paper_length/3)
offset=slip*3
MOVEMODIFY(paper_length+offset)
/i
Example A satellite receiver sits on top of a van. It must align correctly to the satellite
from data processed in a computer. This information is sent to the controller
through the serial link and sets VR(0) and VR(1). This information is used to
control the two axes.
MOVEMODIFY is used so that the position can be continuously changed
even if the previous set position is not achieved.
bearing=0 'set lables for VRs
elevation=1
UNITS AXIS(0)=360/counts_per_rev0
UNITS AXIS(1)=360/counts_per_rev1
WHILE IN(2)=ON
MOVEMODIFY(VR(bearing))AXIS(0) 'adjust bearing to match VR0
MOVEMODIFY(VR(elevation))AXIS(1)'adjust elevation to match VR1
WA(250)
WEND
RAPIDSTOP 'stop movement
WAIT IDLE AXIS(0)
MOVEABS(0) AXIS(0) 'return to transport position
WAIT IDLE AXIS(1)
MOVEABS(0) AXIS (1)
PROGRAMMING MANUAL
fig. 46
SENSOR
fig. 47
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