Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
185
4-2-152 MERGE
/i
4-2-153 MHELICAL
/i
Type Axis parameter
Syntax MERGE
Description The MERGE parameter is a software switch that can be used to enable
or disable the merging of consecutive moves. When MERGE is ON and
the next move already in the next move buffer ( NTYPE ), the axis will not
ramp down to 0 speed but will load up the following move enabling a
seamless merge. The default setting of
MERGE is OFF.
It is up to the programmer to ensure that merging is sensible. For exam-
ple, merging a forward move with a reverse move will cause an
attempted instantaneous change of direction.
MERGE will only function if the following are all true:
1 Only the speed profiled moves MOVE , MOVEABS , MOVECIRC ,
MHELICAL , REVERSE , FORWARD and MOVEMODIFY can be
merged with each other. They cannot be merged with linked moves
CONNECT , MOVELINK and CAMBOX .
2 There is a move in the next move buffer ( NTYPE ).
3 The axis group does not change for multi-axis moves.
When merging multi-axis moves, only the base axis MERGE axis
parameter needs to be set.
Note: If the moves are short, a high deceleration rate must be set to
avoid the CJ1W-MCH72 decelerating in anticipation of the end of the
buffered move.
Arguments N/A
Example MERGE = OFF ' Decelerate at the end of each move
MERGE = ON ' Moves will be merged if possible
See also AXIS .
Type Axis command
Syntax MHELICAL(end1, end2, centre1, centre2, direction, distance3
[,mode]))
MH(end1, end2, centre1, centre2, direction, distance3 [,mode])
Description Performs a helical move, that is, moves 2 orthogonal axes in such a
way as to produce a circular arc at the tool point with a simultaneous lin-
ear move on a third axis. The first 5 parameters are similar to those of a
MOVECIRC command. The sixth parameter defines the simultaneous
linear move.
Finish 1 and centre 1 are on the current
BASE axis. Finish 2 and centre
2 are on the following axis.
The first 4 distance parameters are scaled according to the current unit
conversion factor for the BASE axis. The sixth parameter uses its own
axis units.