Omron TJ2-MC64 - PROGRAMMING Programming Manual page 343

Examples and tips
Example
'=================================================
'FLYING SHEAR program
'=================================================
'Typical example of a flying shear application.
'One axis (line_axis) transport the material
'Second axis (flying_axis) is the flying shear itself
'Third axis (shear_axis) is the shear advancement
'The distance in synchronization must be long enough
'to allow the cut at maximum speed.
'The return of the flying shear is done at such a
'speed that the wait time is zero (optimization of
'the movement).
'Again it is assumed that everithing has been
'calculated to not exceed the maximum motor speed at
'maximum line speed
'==================================================
cut_counter=0
line_axis=2
shear_axis=0
flying_axis=1
SERVO AXIS(line_axis)=ON
SERVO AXIS(flying_axis)=ON
SERVO AXIS(shear_axis)=ON
WDOG=ON
'FIRST CYCLE
'Make a first material cut
MOVEABS(end_pos) AXIS(shear_axis)
WAIT UNTIL MTYPE AXIS(shear_axis)=2
WAIT IDLE AXIS(shear_axis)
'First time we have a certain wait time because the
'material has been just been cut
wait_distance=cut_lenght-l_acc/2
PROGRAMMING MANUAL
Flying shear axis (slave)
Material feeder (Master)
ZERO POSITION
Initial situation: material to cut and shear both in the zero position
MOVELINK(0, cut_length – l_acc / 2, 0, 0, line_axis)
cut_lenght – l_acc / 2
1
MOVELINK(synch_dist + l_acc + l_dec, synch_dist + l_acc / 2 + l_dec/2, l_acc, l_dec, line_axis)
l_acc / 2 Cut_length
2
Just after synchronization (cut operation is done on the fly during synchronization)
Cut_length
3
l_acc / 2 + synch_dist
Just after deceleration
l_acc / 2 + synch_dist + l_dec / 2
4
l_dec / 2
MOVELINK(–l_acc / 2 – synch_dist – l_dec / 2, cut_lenght – synch_dist – l_dec – l_acc, l_acc / 4, l_dec / 4, line_axis)
5
Cut_length-l_acc / 2
fig. 57
Cut_length
337