Omron CS1W-MCH71 Operation Manual page 670

Others
#IB03417 = 1; Override Task 1
;Override for the rest of the tasks
#IB0B002 = 1; STOP is NC
#OW0BA0 = 0;
;etc.
RETURN;
PROG P501 Q00000000;STOP all Programs
;STOP MOTION PROGRAMS
#IB03414 = 1; STOP Motion Task 2 immediately;
#IB03424 = 1; STOP Motion Task 3 immediately;
WAIT #OB03411 = = 0; Wait for confirmation;
WAIT #OB03421 = = 0; Wait for confirmation;
#IB03414 = 0;
#IB03424 = 0;
;
;STOP AXES
#IB04403 = 1; AXIS1 off
#IB04413 = 1; AXIS2 off
#IB04423 = 1; AXIS3 off
#IB04433 = 1; AXIS4 off
#IB04443 = 1; AXIS5 off
WAIT #OB04403 = = 0; Wait for confirmation AX1
WAIT #OB04413 = = 0; Wait for confirmation AX2
WAIT #OB04423 = = 0; Wait for confirmation AX3
WAIT #OB04433 = = 0; Wait for confirmation AX4
WAIT #OB04443 = = 0; Wait for confirmation AX5
#IB04403 = 0;
#IB04413 = 0;
#IB04423 = 0;
#IB04433 = 0;
#IB04443 = 0;
;
RETURN;
PROG P502 Q00000000;RUN Application program
;----------------------------------------------------------------------
;Load the suitable motion programs in its task and run the task 2 and
3
;----------------------------------------------------------------------
#IW0362 = 1; Load program 1 in TASK 2
#IW0363 = 10000; Override for task 1 to 100%
#IB03411 = 0;
DWELL T10;
#IB03411 = 1; Start TASK 2 (Rising edge)
WAIT #OB03411 = = 1; Wait for confirmation
#IB03411 = 0;
;
#IW0364 = 2; Load program 2 in TASK 3
#IW0365 = 10000; Override for task 3 to 100%
#IB03421 = 0;
DWELL T10;
#IB03421 = 1; Start TASK 3 (Rising edge)
WAIT #OB03421 = = 1; Wait for confirmation
#IB03421 = 0;
;
RETURN;
Section 10-3
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