User manual OMRON C200HW-MC402-E 06-2001

[. . . ] W903-E2-02 C200HW-MC402-E Motion Control Unit Operation Manual C200HW-MC402-E Motion Control Unit Operation Manual Produced June 2001 Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. [. . . ] The forward motion can be stopped by executing the CANCEL or RAPIDSTOP command, or by reaching the forward, inhibit, or origin return limit. AXIS, CANCEL, RAPIDSTOP, REVERSE, UNITS start: FORWARD WAIT UNTIL IN(0) = ON CANCEL Precautions: See also: Example: 'Wait for stop signal 5-3-72 FRAC Type: Syntax: Description: Arguments: Example: Mathematical Function FRAC(expression) FRAC returns the fractional part of the expression. >> PRINT FRAC(1. 234) 0. 2340 108 Command, function and parameter description Section 5-3 5-3-73 FREE Type: Syntax: Description: Precautions: System Function FREE FREE returns the remaining amount of memory available for user programs and Table array elements. Each line takes a minimum of 4 characters (bytes) in memory. This is for the length of this line, the length of the previous line, number of spaces at the beginning of the line and a single command token. Additional commands need one byte per token; most other data is held as ASCII. The MC Unit compiles programs before they are executed, this means that twice the memory is required to be able to execute a program. >> PRINT FREE 47104. 0000 Example: 5-3-74 FS_LIMIT Type: Alternative: Description: Axis Parameter FSLIMIT FS_LIMIT contains the absolute position of the forward software limit in user units. A software limit for forward travel can be set from the program to control the working envelope of the machine. When the limit is reached, the MC Unit will decelerate to zero, and then cancel the move. Bit 9 of the AXISSTATUS axis parameter will be turned ON when the axis position is greater than FS_LIMIT. AXIS, AXISSTATUS, RS_LIMIT, UNITS See also: 5-3-75 FWD_IN Type: Description: Axis Parameter FWD_IN contains the input number to be used as a forward limit input. The number can be from 0 to 15 and from 20 to 31. If FWD_IN is set to ­1, then no input is used as a forward limit. If an input number is set and the limit is reached, any forward motion on that axis will be stopped. Bit 4 of the AXISSTATUS will also be set. See also: AXIS, AXISSTATUS, REV_IN 5-3-76 FWD_JOG Type: Description: Axis Parameter FWD_JOG contains the input number to be used as a jog forward input. The input can be from 0 to 15 and from 20 to 31. If FWD_JOG is set to ­1 (default), then no input is used as a forward jog input. See also: AXIS, FAST_JOG, JOGSPEED, REV_JOG 5-3-77 GET Type: Syntax: Description: I/O Function GET#n, variable GET waits for the arrival of a single character and assigns the ASCII code of the character to a variable. The BASIC program will wait until a character is 109 Command, function and parameter description Section 5-3 available. Channels 5 to 7 are logical channels that are superimposed on the RS-232C programming port when using Motion Perfect. [. . . ] When the palette is full, a transfer carousel will replace the palette with a fresh one and a secondary operation will spiral-wrap the whole palette with plastic film. We can assume the palletising operation is similar to example 6. The wrapping operation takes approximately half the time taken to fill the palette and involves the following operations: · Wait for "finished" signal from pick-and-place unit · Rotate the carousel 180° · Signal pick-and-place unit "OK to continue" · Engage the wrapper drive (digital output) · Rotate wrapper 4 times · Disengage the wrapper drive · Signal operator to remove palette · Wait until operator presses the continue button 200 Programming Examples GOSUB constants start: FOR x = 0 TO 4 FOR y = 0 TO 4 MOVEABS(x*200, y*200) WAIT IDLE OP(nozzle, ON) GOSUB square_rel OP(nozzle, OFF) NEXT y NEXT x VR(fill_complete) = 1 WAIT UNTIL VR(carousel_ok) = 1 VR(fill_complete) = 0 GOTO start constants: ax_X = 0 ax_Y = 1 ax_carousel = 2 ax_wrapdrive = 3 but_con = 1 engage_wrap = 8 lamp = 9 nozzle = 10 fill_complete = 10 carousel_ok = 11 RETURN GOSUB constants Appendix C loop: WAIT UNTIL VR(fill_complete) <> 0 VR(carousel_ok) = 0 MOVE(180) AXIS(ax_carousel) WAIT IDLE VR(carousel_ok) = 1 OP(engage_wrap, ON) WA(1000) MOVE(4) AXIS(ax_wrapdrive) WAIT IDLE AXIS(ax_wrapdrive) OP(engage_wrap, OFF) OP(lamp_OK) WAIT UNTIL IN(but_con) = ON OP(lamp, OFF) GOTO loop constants: ax_X = 0 ax_Y = 1 ax_carousel = 2 ax_wrapdrive = 3 but_con = 1 engage_wrap = 8 lamp = 9 nozzle = 10 fill_complete = 10 carousel_ok = 11 RETURN Example 12: Master Program This master shell program is designed to master most applications. The program controls the executions of the application programs and continuously monitors the status of the system. [. . . ]