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Programming Examples
Section 8-1
N005 and N006
Waits until optional input zero turns ON. When the input turns ON, uncondi-
tional jump N0006 is disabled and the next block will be executed.
N007
Moves by linear interpolation to (X, Y) = (250, 250) in Pass Mode.
N008
Moves by linear interpolation to (X, Y) = (500, 500) in Pass Mode. This speci-
fies the point where interrupt task number 100 (D100) will start up if the travel
distance is zero when the Stopover function is used. The following shows
where interrupt task number 100 (D100) will start up since Pass Mode opera-
tion is being used in this case.
Present position = preceding X-axis target position (N007) + stopover travel
distance
= 250 + 0
= 250
In other words, interrupt task number 100 will start up when the present posi-
tion is 250 mm.
N009 and N010
Similarly, interrupt task numbers 101 and 102 will start up at present positions
500 mm and 750 mm respectively.
8-1-13 Positioning at High Speed
This program reads the present position of the workpiece with a visual sensor,
calculates correction and writes the correction value to the MC Unit. After the
MC Unit receives the correction, it positions the axis accordingly. The CPU
Unit sends two position data items to addresses A0000 and A0001 using the
IOWR instruction and the MC Unit moves the axis immediately. Data can be
sent to the MC Unit and positioning commands can be executed in a single
scan.
Programming Example
N000
P000
XY
*001
********************************
*002
Waits for M code reset.
*003
********************************
N004
G01
X0
Y0
M500
N005
G75
00
N006
G70
N005
N007
G01
XA0000
YA0001
F1000
M001
N008
G70
N004
N009
G79
Explanation
N004
Waits at the reference coordinate system origin and outputs M code 500.
N005 and N006
Waits for optional number zero to turn ON. Writes position data from the CPU
Unit by IOWR instruction and turns ON optional number zero.
N007
The MC Unit positions the axis at the position specified in A0000 and A0001,
outputs M code 0001, and waits for M code reset. When the reset is received
from the CPU Unit, the MC Unit moves the axis to the standby position.
Содержание CS1W-MC221 -
Страница 1: ...Motion Control Units Cat No W359 E1 04 CS1W MC221 V1 421 V1 OPERATION MANUAL ...
Страница 2: ...CS1W MC221 V1 421 V1 Motion Control Units Operation Manual Revised February 2008 ...
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Страница 27: ...xxviii Conformance to EC Directives 6 ...
Страница 133: ...106 Installation Section 2 2 2 2 4 Dimensions CS1W MC421 CS1W MC221 ...
Страница 173: ...146 Connecting Peripheral Devices Section 2 7 ...
Страница 227: ...200 Command Area Section 3 6 ...
Страница 351: ...324 Interface Specifics Section 5 4 ...
Страница 513: ...486 Absolute Encoder Interface Specifications Section 9 7 ...
Страница 575: ...548 Error Log Section 12 6 ...
Страница 589: ...562 Performance Appendix A ...
Страница 655: ...628 Control Bit Flag Timing Charts Appendix E ...
Страница 683: ...656 Origin Search Patterns Appendix F ...
Страница 685: ...658 Encoder Divider Rate and Rotation Speed for OMRON Servo Drivers Appendix G ...