User manual OMRON R88A-MCW151-DRT-E

[. . . ] I203-E2-02 R88A-MCW151-E R88A-MCW151-DRT-E Motion Control Option Board OPERATION MANUAL MCW151 Series Motion Control Option Board Models: Operation Manual Produced March 2003 R88A-MCW151-E R88A-MCW151-DRT-E 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. [. . . ] AXIS, DATUM DATUM_IN AXIS(0) = 5 Precautions: See also: Example: 130 Command, function and parameter description Section 6-3 6-3-50 DECEL Type: Description: See also: Example: Axis Parameter The DECEL axis parameter contains the axis deceleration rate. The parameter can have any positive value including zero. ACCEL, AXIS, UNITS DECEL = 100 'Set deceleration rate PRINT " Deceleration rate is ";DECEL;" mm/s/s" 6-3-51 DEFPOS Type: Syntax: Alternative: Description: Motion Control Command DEFPOS(pos_1 [ , pos_2 [ , pos_3 ]]) DP(pos_1 [ , pos_2 [ , pos_3 ]]) The DEFPOS command defines the current demand position (DPOS) as a new absolute position. The measured position (MPOS) will be changed accordingly in order to keep the following error. DEFPOS is typically used after an origin search sequence (see DATUM command), as this sets the current position to zero. As an alternative also the OFFPOS axis parameter can be used. This parameter can be used to perform a relative adjustment of the current position. DEFPOS works on the default basis axis (set with BASE) unless AXIS is used to specify a temporary base axis. The changes to the axis position made using DEFPOS or OFFPOS are made on the next servo update. This can potentially cause problems when a move is initiated in the same servo period as the DEFPOS or OFFPOS. The following example shows how the OFFPOS parameter can be used to avoid this problem. DEFPOS commands are internally converted into OFFPOS position offsets, which provides an easy way to avoid the problem by programming as follows: DEFPOS(100) WAIT UNTIL OFFPOS = 0 MOVEABS(0) Precaution: Arguments: pos_i The absolute position for (base+i) axis in user units. Refer to the BASE command for the grouping of the axes. AXIS, DATUM, DPOS, OFFPOS, MPOS, UNITS The last line defines the current position to (­1000, ­3500) in user units. The current position would have been reset to (0, 0) by the two DATUM commands. BASE(2) DATUM(5) BASE(1) DATUM(4) WAIT IDLE DEFPOS(-1000, -3500) See also: Example: 6-3-52 DEL Type: Syntax: Alternative: Program Command DEL ["program_name"] RM ["program_name"] 131 Command, function and parameter description Description: Section 6-3 The DEL command deletes a program from memory. DEL without a program name can be used to delete the currently selected program (using SELECT). The program name can also be specified without quotes. DEL can also be used to delete the Table as follows: DEL "TABLE" The name "TABLE" must be in quotes. This command is implemented for an offline (VT100) terminal. Within Motion Perfect users can select the command from the Program menu. Precautions: Arguments: See also: Example: program_name Name of the program to be deleted. COPY, NEW, RENAME, SELECT, TABLE >> DEL oldprog 6-3-53 DEMAND_EDGES Type: Description: See also: Axis Parameter The DEMAND_EDGES axis parameter contains the current value of the DPOS axis parameter in encoder edge units. AXIS, DPOS Note This parameter is read-only. 6-3-54 DIR Type: Syntax: Alternative: Description: Program Command DIR LS The DIR command displays a list of the programs held in memory, their memory size and their RUNTYPE. Furthermore the controller's available memory size, power up mode and current selected program is displayed. [. . . ] MOVELINK(0. 5, 0. 7, 0. 2, 0. 2, 1) Example 6: Generating Smooth High-speed Profiles It is often desirable to generate a smooth profiled move for the maximum operational speed in high-speed machines. An optimal profile for this is a sine squared: y= mx - n(sin(x)) In this example we work in radians. start: GOSUB filltable BASE(0) loop: CAMBOX(0, 36, 1, 100, 1) WAIT IDLE WA(1000) GOTO loop filltable: num_p = 37 scale = 2000 FOR p=0 TO num_p TABLE(p, ((-SIN(PI*2*p/num_p)/(PI*2))+p/num_p)*scale) NEXT p RETURN Example 7: Coordinating Two Moving Objects Two conveyors run in parallel, conveyor A (axis 0) carries a product that must be transferred into boxes evenly spaced on conveyor B (external encoder on axis 1). The transfer operation requires the products to be aligned at the end of the conveyor. 251 Programming Examples Appendix C A registration process checks the position of the product on the conveyor and calculates the amount that conveyor A must be advanced or retarded in order to align with conveyor B. [. . . ]