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. Failure to heed precautions can result in injury to people or damage to property. Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. [. . . ] NEXT loop allows the program segment between the FOR and the NEXT statement to be repeated a number of times. On entering this loop, the variable is initialized to the value of start and the block of commands is then executed. Upon reaching the NEXT command, the variable is increased by the increment specified after STEP. The STEP value can be positive or negative, if omitted the value is assumed to be 1. If variable is less than or equal to end, then the block of commands is repeatedly executed until variable is greater than end, at which time the command after NEXT is executed. end Any valid BASIC expression. Description: Precautions: Arguments: 107 Command, function and parameter description increment Any valid BASIC expression. See also: Examples: REPEAT, WHILE Section 5-3 Example 1 The following loop turns ON outputs 0 to 10. FOR opnum = 0 TO 10 OP(opnum, ON) NEXT opnum Example 2 The STEP increment can be positive or negative. loop: FOR dist = 5 TO -5 STEP -0. 25 MOVEABS(dist) GOSUB pick_up NEXT dist Example 3 FOR. . . NEXT statements can be nested (up to 8 levels deep) provided the inner FOR and NEXT commands are both within the outer FOR. . . NEXT loop: loop1: FOR l1 = 1 TO 8 loop2: FOR l2 = 1 TO 6 MOVEABS(l1*100, l2*100) GOSUB 1000 NEXT l2 NEXT l1 5-3-71 FORWARD Type: Syntax: Alternative: Description: Motion Control Command FORWARD FO FORWARD moves an axis continuously forward at the speed set in the SPEED parameter. FORWARD works on the default basis axis (set with BASE) unless AXIS is used to specify a temporary base axis. 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. 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. If an input number is set and the limit is reached, any forward motion on that axis will be stopped. [. . . ] A high-speed optical sensor is connected to the registration input of the feed axis. loop: REGIST(3) DEFPOS(0) MOVE(150) WAIT UNTIL MARK MOVEMODIFY(REG_POS+30) WAIT IDLE GOSUB cut_operation GOTO loop cut_operation: 'Omitted from this example. RETURN Example 11: Pick and Place Machine A pick-and-place machine is filling boxes on a palette. 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. [. . . ]