User manual OMRON SYSMAC CJ

[. . . ] I55E-EN-04 Programmable Controller SYSMAC CJ-series CJ1W-MCH72 Motion Control Unit OPERATION MANUAL Notice OMRON products are manufactured for use by a trained operator and only for the purposes described in this manual. The following conventions are used to classify and explain the precautions in this manual. Always heed the information provided with them. !WARNING Indicates information that, if not heeded, could possibly result in serious injury or loss of life. !Caution Indicates information that, if not heeded, could possibly result in minor or relatively serious injury, damage to the product or faulty operation. OMRON product references All OMRON products are capitalized in this manual. The first letter of the word Unit is also capitalized when it refers to an OMRON product, regardless of whether it appears in the proper name of the product. [. . . ] If stopped by execution of the CANCEL or RAPIDSTOP command, the axis decelerates to a stop at the programmed DECEL rate. N/A Arguments 162 All BASIC commands Section 4-2 IN(12) NC AXIS 0 /i Example Run an axis forwards. When an input signal is detected on input 12, bring the axis to a stop. FORWARD ' wait for stop signal WAIT UNTIL IN(12)=ON CANCEL WAIT IDLE AXIS 3 IN(7) NC /i Example Move an axis forward until it hits the end limit switch, then move it in the reverse direction for 25 cm. BASE(3) FWD_IN=7 limit switch connected to input 7 FORWARD WAIT IDLE ' wait for motion to stop on the switch MOVE(-25. 0) WAIT IDLE 163 All BASIC commands Example Section 4-2 A machine that applies lids to cartons uses a simulated line shaft. This example sets up a virtual axis running forward to simulate the line shaft. Axis 0 is then connected, with the CONNECT command, to this virtual axis to run the conveyor. Axis 1 controls a vacuum roller that feeds the lids on to the cartons using the MOVELINK control. BASE(4) ATYPE=0 'Set axis 4 to virtual axis REP_OPTION=1 SERVO=ON FORWARD 'starts line shaft BASE(0) CONNECT(-1, 4) 'Connects base 0 to virtual axis in reverse WHILE IN(2)=ON BASE(1) 'Links axis 1 to the shaft in reverse direction MOVELINK(-4000, 2000, 0, 0, 4, 2, 1000) WAIT IDLE WEND RAPIDSTOP AXIS, CANCEL, RAPIDSTOP, REVERSE, UNITS. See also 4-2-115 FPGA_VERSION /i Type Syntax Description Arguments Example See also Slot parameter FPGA_VERSION This parameter returns the FPGA version of the CJ1W-MCH72. N/A N/A N/A 4-2-116 FRAC /i Type Syntax Description Arguments Example See also Mathematical function FRAC(expression) The FRAC function returns the fractional part of the expression. · expression Any valid BASIC expression. >> PRINT FRAC(1. 234) 0. 2340 N/A 164 All BASIC commands Section 4-2 4-2-117 FRAME /i Type Syntax Description System parameter FRAME=value Used to specify which frame to operate within when employing frame transformations. Frame transformations are used to allow movements to be specified in a multi-axis coordinate frame of reference which do not correspond one-to-one with the axes. An example is a SCARA robot arm with jointed axes. For the end tip of the robot arm to perform straight line movements in X-Y the motors need to move in a pattern determined by the robots geometry. Frame transformations to perform functions such as these need to be compiled from C language source and loaded into the controller system software. A machine system can be specified with several different frames. The currently active "frame" is specified with the FRAME System parameter. The default FRAME is 0 which corresponds to a one-to-one transformation. N/A FRAME=1 N/A Arguments Example See also 4-2-118 FREE /i Type Syntax Description System function FREE The FREE function returns the remaining amount of memory available for user programs and TABLE array elements. Note: 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. [. . . ] Using BASIC command ERROR_LINE find a line in the BASIC program which caused runtime error. Modify found line causing an error to prevent it from happening in the future (see section 4-2-210 for more details on RUN_ERROR and section 4-2-95 for more details on ERROR_LINE BASIC commands). Use Trajexia Studio Software to edit and compile BASIC programs. Editor of the software will automatically highlight locations of possible compile errors and provide all necessary debugging information while compiling the program. BASIC program cannot be run due to compilation or syntax error. 6-3-13 Axis Error /i Problem Not all physically present axes are initialised. Some of them are virtual (ATYPE = 0) or have illegal axis number -1 assigned. Solution Wrong setting of the SERVO_PERIOD system parameter for a given number of MECHATROLINK-II stations and axes. Correct the SERVO_PERIOD value and restart the unit (see section 4-2-218 for more information on valid SERVO_PERIOD value depending on number of connected stations). [. . . ]