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Practical examples
Section 5-2
346
A new movement starts (step 2).
5-2-10 Correction program
This application is for a rotary labeller. The constants are:
• The product arrives on a conveyor (master axis) that runs at a constant
speed.
• A rotary labeller that is synchronized 1:1 to the conveyor, attaches the
labels.
• The distance between products is fixed and mechanically guaranteed.
The distance between labels is never exactly constant so, a correction is
needed. This is done by superimposing a virtual axis onto the movement of
the labeller.
The difference between the expected position and the actual position is
measured with a photocell. This is the correction factor.
Every time a correction is made, the origin position is updated accordingly.
5-2-10-1 Example
conveyor=0
labeller=1
virtual=15
SERVO AXIS(conveyor)=1
SERVO AXIS(labeller)=1
WDOG=1
BASE(labeller)
CONNECT(1,conveyor)
ADDAX(virtual)
FORWARD AXIS(conveyor)
REGIST(1)
WAIT UNTIL MARK=0
loop:
WAIT UNTIL MARK
correction=expected_pos
MOVE(correction) AXIS(virtual)
WAIT IDLE AXIS(virtual)
OFFPOS=-labelcorrection
REGIST(1)
WAIT UNTIL MARK=0
GOTO loop
t
speed
0
0
0
OFFPOS
correction
labeller
conveyor
Summary of Contents for trajexia CJ1W-MCH72
Page 69: ...Specifications Section 2 4 58...
Page 83: ...FINS commands Section 3 4 72...
Page 147: ...All BASIC commands Section 4 2 136 AXIS 1 AXIS 0...
Page 277: ...All BASIC commands Section 4 2 266...
Page 371: ...360 Index...
Page 373: ...362...