Omron CS1W-MCH71 -, Operation Manual

Page: 632 / 717

587
Program Example
Section 10-1
Program 01) PROG P011 Q00000001;
02) WORK C1;
03) OFFPOS C1 [J01]#SL0206;
04) INC MOVE [J01]1000;
05) NOPS;
06) END;
Explanation of the
program 01) The program number and axes to be used are specified.
02) The workpiece coordinate system (C1) is enabled.
03) The workpiece coordinate system (C1) offset is changed to the machine
coordinate system present position (SL0206) (i.e., the workpiece coordi-
nate system is preset).
04) Positioning with PTP control is performed from the present position to the
position [J01] 1000.
05) Stepping is stopped until the positioning in step 04 is completed.
06) The program is completed.
10-1-12 Starting Peripherals during Axis Movement
Explanation of the
program • During axis movement, peripherals can be started at specified positions
without stopping the axes.
• This program enables the control of peripherals without stopping the
axes; therefore, high-speed synchronous application can be realized.
• This example shows the operation to start peripherals 1, 2, and 3 accord-
ingly when the present position of [J01] reaches 2500, 5000, and 7500
during linear interpolation with 2 axes.
Program 01) PROG P013 Q00000003;
02) MOVEL [J01]0 [J02]0 F300000;
03) #OW0BA0 = 0;
04) #OW0BA1 = 0;
05) #OW0BA2 = 0;
06) WAIT #IW0B00 = = 1;
07) MOVEL [J01]10000 [J02]10000;
08) WAIT #SL0206 > = 2500;
09) #OW0BA0 = 1;
10) WAIT #SL0206 > = 5000;
11) #OW0BA1 = 1;
12) WAIT #SL0206 > = 7500;
13) #OW0BA2 = 1;
14) END;
J02
J01
10000
10000
7500
5000
2500
0