User manual OMRON CJ1W-MCH72

[. . . ] I55E-EN-03 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. [. . . ] The STEP value can be positive or negative, if omitted the value is assumed to be 1. While variable is less than or equal to end, the block of commands is repeatedly executed until variable is greater than end, at which time program execution will continue after NEXT. NEXT statements can be nested up to 8 levels deep in a BASIC program. · · · · · variable Any valid BASIC expression. commands One or more BASIC commands. Description Arguments 162 All BASIC commands Example FOR opnum = 8 TO 13 OP(opnum, ON) NEXT opnum This loop turns on outputs 8 to 13. loop: FOR dist = 5 TO -5 STEP -0. 25 MOVEABS(dist) GOSUB pick_up NEXT dist The STEP increment can be positive or negative. Section 4-2 Example Example loop1: FOR l1 = 1 TO 8 loop2: FOR l2 = 1 TO 6 MOVEABS(l1*100, l2*100) GOSUB 1000 NEXT l2 NEXT l1 FOR. . TO. . STEP. . NEXT statements can be nested (up to 8 levels deep) provided the inner FOR and NEXT commands are both within the outer FOR. . TO. . STEP. . NEXT loop. REPEAT. . UNTIL, WHILE. . WEND. See also 4-2-116 FORWARD /i Type Syntax Description Axis command FORWARD FO The FORWARD command moves an axis continuously forward at the speed set in the SPEED axis parameter. The acceleration rate is defined by the ACCEL axis parameter. FORWARD works on the default basis axis (set with BASE) unless AXIS is used to specify a temporary base axis. Note: The forward motion can be stopped by executing the CANCEL or RAPIDSTOP command, or by reaching the forward limit. If stopped by execution of the CANCEL or RAPIDSTOP command, the axis decelerates to a stop at the programmed DECEL rate. N/A Arguments 163 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 164 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 4-2-117 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 4-2-118 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 165 All BASIC commands Section 4-2 4-2-119 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. [. . . ] Replace the CJ1W-MCH72 unit. 353 Troubleshooting Errors Section 6-3 6-3-12 BASIC Program Error /i Problem BASIC program stopped working during operation due to runtime error (bit 0 of the SYSTEM_ERROR system parameter is high, see section 4-2-234 for more details on this parameter). Solution Using BASIC command RUN_ERROR determine the error type that caused runtime error. 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 4-2-214 for more details on RUN_ERROR and section 4-2-97 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. [. . . ]