Omron CS1W-MCH71 -, Руководство по эксплуатации

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Section 10-3
#OB00304 = 0; Parameter No. specification (00)
#OB00305 = 0; Parameter No. specification (00)
#OB00306 = 0; Parameter No. specification (00)
#OB00307 = 0; Parameter No. specification (00)
END;
10-3 Others
Example 1
This program may be the automatic operation of a simple ‘pick and place’
machine (e.g., PCB mounting machine). The real machine will need another
motion programs as ‘homing sequence’, ‘manual operation’ and PC program.
PROG P004 Q00000007;Pick & Place
;--------------------------------------------------------------------------------
;The application consist on a pick and place operation with high
torque detection
;in the axes to detect mechanical lockings.
;Axes 1 & 2 are an X-Y table and Axis 3 is the vertical axis. Two sen-
sors confirm
;that the vertical axis is in the 'up' or 'down' position.
;--------------------------------------------------------------------------------
;The example shows:
; - Simple PTP movements
; - Parallel programming
; - Use of different variables
;--------------------------------------------------------------------------------
;Variable initialization
#OB0BA20 = 0;
#MW0000 = 0;
;
ABL;
;
;Set the axes to RUN
#IB04402 = 1; AXIS1 on
#IB04412 = 1; AXIS2 on
#IB04422 = 1; AXIS3 on
WAIT #OB04403 = = 1; Wait for confirmation AX1
WAIT #OB04413 = = 1; Wait for confirmation AX2
WAIT #OB04423 = = 1; Wait for confirmation AX3
#IB04402 = 0;
#IB04412 = 0;
#IB04422 = 0;
;
;Infinite operation loop
WHILE 1 = = 1;
IF #IB0B020 = = 1; Bit0 in Input variable 2 (from PLC) is the 'start'
signal
#DB00000 = 0;
;In parallel we are checking the current in the drives
;and making the movement
PARALLEL N2;
WHILE #DB00000 = = 0;
IF #SL0214>20000; Torque in Axis 1
#MB00000 = 1;
ELSE;
#MB00000 = 0;