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Command, function and parameter description
Section 6-3
link_option
link_position
The absolute position where MOVELINK will start when link_option is set to 2
See also:
AXIS, REP_OPTION, UNITS
Example:
A flying shear cuts a roll of paper every 160 m while moving at the speed of
the paper. The shear is able to travel up to 1.2 m of which 1 m is used in this
example. The paper distance is measured by an encoder, the unit conversion
factor being set to give units of metres on both axes. Axis 1 is the link axis.
MOVELINK(0,150,0,0,1)
‘wait distance
MOVELINK(0.4,0.8,0.8,0,1)
‘accelerate
MOVELINK(0.6,1.0,0,0.8,1)
‘match speed then decelerate
WAIT UNTIL NTYPE=0
‘wait till last move started
OP(8,ON)
‘activate cutter
MOVELINK(-1,8.2,0.5,0.5,1) ‘move back
In this program, the MC Unit waits for the roll to feed out 150 m in the first line.
After this distance, the shear accelerates to match the speed of the paper,
coasts at the same speed, then decelerates to a stop within a 1 m stroke. This
movement is specified using two separate MOVELINK commands. The pro-
gram then waits for the next move buffer to be clear NTYPE=0. This indicates
that the acceleration phase is complete. The distances on the link axis
(
link_distance
) in the MOVELINK commands are 150, 0.8, 1.0, and 8.2, which
add up to 160 m.
To ensure that the speeds and positions of the cutter and paper match during
the cut task, the arguments of the MOVELINK command must be correct.
Therefore it is easiest to first consider the acceleration, constant speed and
deceleration phases separately. As mentioned before the acceleration and
deceleration phases require the link_distance to be twice the distance. Both
phases can therefore be specified as:
MOVELINK(0.4,0.8,0.8,0,1)
’This move is all accel
MOVELINK(0.4,0.8,0,0.8,1)
’This move is all decel
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. The con-
stant speed phase could, therefore, be specified as follows:
MOVELINK(0.2,0.2,0,0,1)
’This is all constant speed
The MOVELINK command allows the three sections to be added by summing
the
distance, link_distance, link_acceleration
and
link_deceleration
for each
phase, producing the following command.
MOVELINK(1,1.8,0.8,0.8,1)
In the program above, the acceleration phase is programmed separately. This
is done to be able to perform some action at the end of the acceleration
phase.
1
Link starts when registration event occurs on link axis.
2
Link starts at an absolute position on link axis (see
link_position
).
4
MOVELINK repeats automatically and bi-directionally. This option is
canceled by setting bit 1 of REP_OPTION parameter (i.e.
REP_OPTION = REP_OPTION OR 2).
5
Combination of options 1 and 4.
6
Combination of options 2 and 4.