Command Overview; Command List - Omron CS1W-MCH71 Operation Manual

Command Overview

Starting a New Program
Operation
Calling Sub-Program
Parallel Branching
Executing End Command
6-2 Command Overview
6-2-1

Command List

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If a new main program is started (the first execution after power is turned ON,
or execution in the Start Mode = 0 or 3), the machine coordinate system is
always used. Although the offset value is inherited from the previous program,
the coordinate system select is not inherited.
When a sub-program is called, the offset value and coordinate system select
are inherited to the sub-program.
When returning to the main program from the sub-program, all the modal data
is inherited.
If parallel branching has been executed using the PARALLEL command, the
offset value and coordinate system select for all the branches are inherited.
The offset value and coordinate system select that have been changed in a
branch will affect other branches as well.
If a program is ended using the END command, neither the offset value nor
coordinate system select are initialized.
There are two types of commands for the MC Unit.
• Single Execution Command:
In a motion task, two or more commands of this type cannot be executed
together in one scan. It can be executed simultaneously, however, with
multiple execution commands or with another single execution command
in another branch of parallel branches.
Commands related to movement are usually of this type.
• Multiple Execution Command:
In a motion task, several commands of this type can be executed together
in one scan. It can be executed simultaneously with a single execution
command or other multiple execution commands in the same scan.
Commands related to operation (arithmetic, logical, etc.) are usually of this
type.
The meanings of the symbols in the motion task column are as follows:
Symbol
S Single Execution Command
M Multiple Execution Command
x Not executed as an independent command (no type).
Section 6-2
Meaning