User manual OMRON TJ2-MC64 PROGRAMMING

[. . . ] I58E-EN-01 Trajexia machine control system TJ2-MC64 PROGRAMMING MANUAL 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. /i Definition of precautionary information WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury. [. . . ] The command subroutine for the letter M is: write_m: MOVE(0, 12) 'move A > B MOVE(3, -6) 'move B > C MOVE(3, 6) 'move C > D MOVE(0, -12)'move D > E RETURN AXIS, MOVEABS, UNITS. 34 B D C See also A E Revision 1. 0 PROGRAMMING MANUAL 134 BASIC commands 3. 2. 192 MOVEABS /i Type Syntax Description Axis command MOVEABS(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, . . . ]]]]) MA(distance_1 [ , distance_2 [ , distance_3 [ , distance_4 [, . . . ]]]]) The MOVEABS command moves one or more axes at the demand speed, acceleration and deceleration to a position specified as absolute position, i. e. , in reference to the origin. In multi-axis moves the movement is interpolated and the speed, acceleration and deceleration are taken from the base axis. The specified distances are scaled using the unit conversion factor in the UNITS axis parameter. If, for example, an axis has 4, 000 encoder edges/mm, then the number of units for that axis would be set to 4000, and MOVEABS(12. 5) would move to a position 12. 5 mm from the origin. MOVEABS works on the default basis axis group (set with BASE) unless AXIS is used to specify a temporary base axis. Argument distance_1 is applied to the base axis, distance_2 is applied to the next axis, etc. By changing the axis between individual MOVE commands, uninterpolated, unsynchronised multi-axis motion can be achieved. Absolute moves can be merged for profiled continuous path movements by turning on the MERGE axis parameter. Considering a 2-axis movement, the individual speeds are calculated using the equations below. Given command MOVE(ax1, ax2), the current position (ay1, ay2) and the profiled speed vp as calculated from the SPEED, ACCEL and DECEL parameters from the base axis and the total multi-axes distance L = SQR(x12 + x22), where x1 = axi - ayi. The individual speed for axis at any time of the movement is calculated as vi = (xi x vp) / L. The command can take up to 64 arguments. · distance_i The position to move every axis i to in user units starting with the base axis. Arguments Revision 1. 0 PROGRAMMING MANUAL 135 BASIC commands /i Example A machine must move to one of 3 positions depending on the selection made by 2 switches. The options are home (if both switches are off), position 1 (if the first switch is on and the second switch is off) and position 2 (if the first switch is off and the second switch is on). Position 2 has priority over position 1. 'define absolute positions home=1000 position_1=2000 position_2=3000 WHILE IN(run_switch)=ON IF IN(6)=ON THEN 'switch 6 selects position 2 MOVEABS(position_2) WAIT IDLE ELSEIF IN(7)=ON THEN 'switch 7 selects position 1 MOVEABS(position_1) WAIT IDLE ELSE MOVEABS(home) WAIT IDLE ENDIF WEND An X-Y plotter has a pen carousel. The position of this carousel is fixed relative to the absolute zero position of the plotter. To change pens, an absolute move to the carousel position finds the target irrespective of the plot position. MOVEABS(28. 5, 350) ' move to just outside the pen holder area WAIT IDLE SPEED = pen_pickup_speed MOVEABS(20. 5, 350) ' move in to pick up the pen fig. 35 Example Revision 1. 0 PROGRAMMING MANUAL 136 BASIC commands /i Example A pallet consists of a 6 by 8 grid in which gas canisters are inserted 185 mm apart by a packaging machine. The canisters are picked up from a fixed point. The first position in the pallet is defined as position 0, 0 with the DEFPOS command. [. . . ] Note A system with at most 6 slices typically produces less than 27 bytes of I/O data, in which case the number of pages is 1. Revision 1. 0 Quasi-random delay PROGRAMMING MANUAL 351 GRT1-ML2 timing A. 2 /i Variable TON TOFF TON/OFF Examples Variable Tin Definition The input response time: the time between these 2 events: · The SmartSlice Input Unit receives an input signal. · This signal is available to the TJ2-MC64 for processing. Tin = TON/OFF + TSL + TCUin + TMLin + TSERVO, where: · 0. 1 ms TCUin 0. 1 + MAX(TSL, TMLin) ms · TMLin = Pagesin × TSERVO · Pagesin = (PDsizein + 2) / 27 1, rounded up to the nearest integer The following time variable and other variable definitions are used: Definition The ON or OFF delay of the SmartSlice I/O Unit. See the GRT1 Series SmartSlice I/O Units Operation Manual (W455) for more information on input delay times of input units and output delay times of output units. [. . . ]