Omron CS1W-MCH71 -, Руководство по эксплуатации

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6
Basic Operations
Section 1-3
1-3 Basic Operations
1-3-1 Applicable Machines
The MC Unit was developed for the purpose of motion control using servomo-
tors.
Even though it depends on the machine accuracy, use an encoder, which is
capable to detect 5-10 times more accurate than the machine accuracy.
Applicable machines
1,2,3... 1. Assembling Systems
Simple robots, package machinery (horizontal type forming and vertical
type forming), filling machine, grinder, drilling machinery, simple automat-
ed assembling machines, etc.
2. Conveyor Systems
XY tables, palletizers/depalletizers, loaders/unloaders, etc.
Note The MC Unit is not designed to perform linear interpolation, circular interpola-
tion, or helical circular interpolation with horizontal articulated robots or cylin-
drical robots, because it does not support coordinate conversions. The MC
Unit can, however, perform PTP control with these robots.
1-3-2 Position Control
The MC Unit offers the following three types of motion control:
• PTP Control
• CP Control (linear interpolation and circular interpolation)
• Interrupt Feeding
Control programs are created in the Motion language.
PTP Control PTP control is used to control each axis (J01 and J02 axis) independently.
Positioning time depends on the travel distance and speed of each axis.
Example: Moving from the origin to the J01-axis coordinate of 100 and J02-
axis coordinate of 50 at the same speed.
Positioning is executed separately for each axis, so travel between the two
points is carried out as shown in the diagram below:
50
J02
0 50 100
J01