Omron CS1W-MCH71 -, Operation Manual

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Program Example
Section 10-1
10-1-28 Parallel Execution (PARALLEL, JOINT, JWAIT)
Explanation of the
operation • The processing is branched and executed in parallel.
• This program is used, for example, when executing interpolation com-
mands simultaneously.
• In this example, 3 axes are operated with linear interpolation and they are
simultaneously operated with PARALLEL command.
Program 01) PROG P032 Q00000007;
02) PARALLEL N3;
03) MOVEL [J01]100000 F500000;
04) JOINT;
05) MOVEL [J02]150000 F500000;
06) JOINT;
07) MOVEL [J03]200000 F500000;
08) JWAIT;
09) DWELL T3000;
10) MOVE [J01]0 [J02]0 [J03]0;
11) END;
Explanation of the
program 01) A program No. and axes to be used are specified.
02) With PARALLEL command, 03), 05), and 07) are executed in parallel.
03) [J01] is moved to the position 100000 with linear interpolation.
04) This is the syntax of PARALLEL command. After this block is <processing
2>.
05) [J02] is moved to the position 150000 with linear interpolation.
06) This is the syntax of PARALLEL command. After this block is <processing
3>.
07) [J03] is moved to the position 200000 with linear interpolation.
08) This is the end of PARALLEL command from 02).
09) The program is held for 3 seconds.
10) The axes return to the origin.
11) The program is completed.
J02
J01
J03
J02
J01
J03
Normal axis movement
Axis movement in Parallel
Execution