Omron CS1W-MCH71 -, Руководство по эксплуатации

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SECTION 10
Program Example
The section provides a programming example to demonstrate how the CJ1W-MCH71 and CS1W-MCH71 Motion Control
Units can be used.
10-1 Program Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
10-1-1 Positioning with PTP Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
10-1-2 Positioning with Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . 575
10-1-3 Positioning with Linear and Circular Interpolation. . . . . . . . . . . . . . 576
10-1-4 Positioning with Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
10-1-5 Positioning with Workpiece Coordinate System with Subprograms 578
10-1-6 Positioning with Changing Interpolation Acceleration Time Parameter 580
10-1-7 Positioning with Position Data Calculation . . . . . . . . . . . . . . . . . . . 581
10-1-8 Stopping a Program with General Input . . . . . . . . . . . . . . . . . . . . . . 583
10-1-9 Stopping Operation with Optional End Using General Input and
Assigning Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
583
10-1-10 Positioning of Turntable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
10-1-11 Feeder Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
10-1-12 Starting Peripherals during Axis Movement . . . . . . . . . . . . . . . . . . . 587
10-1-13 High-speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
10-1-14 Interrupt Feeding (MOVEI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
10-1-15 Time-specified Positioning (MOVET) . . . . . . . . . . . . . . . . . . . . . . . 590
10-1-16 Regular Winding to Rough Winding (MOVETRAV) . . . . . . . . . . . . 591
10-1-17 Electronic Cam, Single Axis (CAM) . . . . . . . . . . . . . . . . . . . . . . . . 592
10-1-18 Link Operation (MOVELINK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
10-1-19 Electronic Cam, Synchronous (CAMBOX) . . . . . . . . . . . . . . . . . . . 595
10-1-20 Electronic Shaft (CONNECT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
10-1-21 Trailing Synchronization/Synchronization Cancel (SYNC/SYNCR) 597
10-1-22 Travel Distance Superimpose/Travel Distance Superimpose Cancel
(ADDAX/ADDAXR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
10-1-23 Speed Control/Speed Control Cancel (SPEED/SPEEDR) . . . . . . . . 600
10-1-24 Torque Control/Torque Control Cancel (TORQUE/TORQUER) . . . 601
10-1-25 Target Position Change (MOVEMODI) . . . . . . . . . . . . . . . . . . . . . . 602
10-1-26 Present Position Latch (LATCH) . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
10-1-27 Single Block Ignored (NSTOP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
10-1-28 Parallel Execution (PARALLEL, JOINT, JWAIT) . . . . . . . . . . . . . . 605
10-1-29 Selective Execution (SWITCH, CASE, BREAK, SEND) . . . . . . . . 606
10-2 Slave Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
10-2-1 Using 64-Point I/O Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
10-2-2 Using Counter Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
10-2-3 Using Pulse Output Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
10-3 Others. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619