Omron CS1W-MCH71 -, Руководство по эксплуатации

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Basic Information
Section 6-1
Especially when the master and slave axes are in different tasks, or in dif-
ferent blocks of parallel branching, provide interlocking, etc. so that the
master axis starts operating only after all the slave axes have recognized
and processed the command.
Program example
2. Set the resolution for the master axis of the synchronous command higher
than the one of slave axes.
Since slave axes cannot operate with the unit system smaller than the one
of the master axis, setting a larger travel distance for slave axes than the
travel distance 1 of the master axis causes off-and-on operations. Make
sure to set parameters so that "Master axis travel distance > Slave axes
travel distance" is true.
In this case, the problem lies not in the resolution for 1 motor rotation on
each motor, but in the relations on travel distances between the master and
slave axes in synchronization.
An example is shown using the following parameters.
Program
MOVELINK [J02]6000 [J01]100. A50. D50. Q5 I0. B0;
According to the conditions mentioned above, the travel distance (pulse) of
each axis for linking distance will be as follows:
PROG P000 Q00000003;
MOVELINK [J02]#PL0002 [J01]20. A10. D10. Q5 I0. B0; Sync condition set
#MW0004 = 1; MOVELINK execution notify flag to task 2 set
END;
PROG P001 Q00000004;
WAIT #MW0004 == 1; MOVELINK execution of task 1 confirmed
MOVEL [J03]#PL0000 F#DL0000; Starting master axis
END;
Parameter setting value [J01] [J02]
Axis parameter P5AA02 Position command decimal point position 2 4
P5AA04 Command unit/1 machine rotation 36000 100000
P5AA05 Gear ratio 1 (motor rotation speed) 5 1
P5AA06 Gear ratio 2 (machine rotation speed) 1 1
Motor parameter 9001h No. of encoder pulses (
×
4) 65536 65536