Omron TJ2-MC64 - PROGRAMMING - Page 344

Examples and tips
PROGRAMMING MANUAL 338
Revision 1.0
MOVELINK(0,wait_distance,0,0,line_axis) AXIS(flying_axis)
WAIT UNTIL MTYPE AXIS(flying_axis)=22
'We start the line
FORWARD AXIS(line_axis)
loop:
'Update the line speed every cycle
SPEED AXIS(line_axis)=line_speed
'Cutting movement at synchronized speed
line_cut=synch_dist+l_acc+l_dec
shear_cut=synch_dist+l_acc/2+l_dec/2
MOVELINK(shear_cut,line_cut,l_acc,l_dec,line_axis)
AXIS(flying_axis)
WAIT UNTIL MPOS AXIS(flying_axis)>l_acc/2
'Activate the shear when it is in synchronization with the
line
'Slow speed to cut
SPEED AXIS(shear_axis)=cut_speed
MOVEABS(end_pos) AXIS(shear_axis)
MOVEABS(0) AXIS(shear_axis)
WAIT UNTIL NTYPE AXIS(shear_axis)=2
'Fast speed to return
WAIT LOADED AXIS(shear_axis)
SPEED AXIS(shear_axis)=return_speed
cut_counter=cut_counter+1inch
'Return back synchronized with the master in such a way
'that there is no wait time
line_back=cut_length-synch_dist-l_dec-l_acc
shear_cut=l_acc/2+synch_dist+l_dec/2)
MOVELINK(-shear_cut,line_back,l_acc/4,l_dec/4,line_axis)
AXIS(flying_axis)