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Command, function and parameter description
Section 6-3
the acceleration part, the constant speed part and the deceleration part. The
link acceleration and deceleration distances are specified by the
link_acceleration and link_deceleration parameters. The constant speed link
distance is derived from the total link distance and these two parameters.
The three phases can be divided into separate MOVELINK commands or can
be added up together into one. Consider the following two rules when setting
up the MOVELINK command.
Rule 1
In an acceleration and deceleration phase with matching speed, the
link_distance must be twice the distance.
Rule 2
In a constant speed phase with matching speeds, the two axes travel the
same distance so the distance to move must equal the link_distance.
MOVELINK works on the default basis axis group (set with BASE) unless
AXIS is used to specify a temporary base axis. The axis set for link_axis
drives the base axis.
Note If the sum of link_acceleration and link_deceleration is greater than
link_distance, they are both reduced in proportion in order to equal the sum to
link_distance.
Arguments:
distance
The incremental distance in user units to move the base axis, as a result of
the measured link_distance movement on the link axis.
link_distance
The positive incremental distance in user units that is required to be mea-
sured on the link axis to result in the distance motion on the base axis.
link_acceleration
The positive incremental distance in user units on the link axis over which the
base axis will accelerate.
link_deceleration
The positive incremental distance in user units on the link axis over which the
base axis will decelerate.
link_axis
The axis to link to.
Speed
Time
link
speed
link
distance
distance
Acceleration
Speed
Time
link
speed
link
distance
distance
Deceleration