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. 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. [. . . ] DEFPOS is typically used after an origin search sequence (see DATUM command), as this sets the current position to zero. 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). DEL can also be used to delete the Table as follows: DEL "TABLE" The name "TABLE" must be in quotes. 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. FREE, POWER_UP, PROCESS, RUNTYPE, SELECT See also: 6-3-55 DPOS Type: Description: Axis Parameter The DPOS axis parameter contains the demand position in user units, which is generated by the move commands in servo control. When the controller is in open loop (SERVO=OFF), the measured position (MPOS) will be copied to the DPOS in order to maintain a zero following error. The range of the demand position is controlled with the REP_DIST and REP_OPTION axis parameters. The value can be adjusted without doing a move by using the DEFPOS command or OFFPOS axis parameter. See also: Example: AXIS, DEFPOS, DEMAND_EDGES, FE, MPOS, REP_DIST, REP_OPTION, OFFPOS, UNITS >> PRINT DPOS AXIS(0) 34. 0000 The above line will return the demand position in user units. 132 Command, function and parameter description Section 6-3 6-3-56 DRV_CLEAR Type: Syntax: Description: Servo Driver Command DRV_CLEAR The DRV_CLEAR command clears the alarm status of the Servo Driver. This command is not capable of clearing all the possible alarm states. Some alarms can only be cancelled by turning OFF the power supply (both the MC Unit as the Servo Driver), and then turning it ON again. [. . . ] To ensure that speeds and positions of the cutter and paper match during the cut process, the arguments of the MOVELINK command must be correct. It is normally easiest to consider the acceleration, constant speed and deceleration phases separately and then combine them as required. start: UNITS AXIS(0) = 5000 'Meters UNITS AXIS(1) = 5000 loop: BASE(0) MOVELINK(0, 4, 0, 0, 1) MOVELINK(0. 1, 0. 2, 0. 2, 0, 1) MOVELINK(0. 3, 0. 3, 0, 0, 1) MOVELINK(0. 1, 0. 2, 0, 0. 2, 1) MOVELINK(-0. 5, 5, 3, 3, 1) GOTO loop 'Wait distance 'Accelerate 'Match speed 'Decelerate 'Move back The middle MOVELINK commands can be done in one move using the following line. 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. [. . . ]