Omron trajexia CJ1W-MCH72 Operation Manual page 146

All BASIC commands
4-2-71 DIR
4-2-72 DISABLE_GROUP
/i
Type Program command
Syntax DIR
LS
Description The DIR command shows a list of the programs held in the controller,
the memory size and the RUNTYPE. DIR also shows the available
memory size, power up mode and current selected program of the con-
troller.
Note: This command is implemented for the Command Line Terminal
only.
Arguments N/A
Example No example.
See also FREE, POWER_UP, PROCESS, RUNTYPE, SELECT.
/i
Type Axis command
Syntax DISABLE_GROUP(-1)
DISABLE_GROUP(axis_1 [, axis_2 [, ...]] )
Description The AXIS_ENABLE is used to create a group of axes which will be disa-
bled if there is a motion error in any or more axes in the group. After the
group is made, when an error occurs on one they will all have their
AXIS_ENABLE set OFF and SERVO set OFF. Multiple groups can be
made, although an axis cannot belong to more than one group. All
groupings can be cleared using DISABLE_GROUP(-1).
Note: For use with MECHATROLINK-II only.
Arguments • axis_i
A BASIC expression that evaluates to an axis number.
Example A machine has 2 functionally separate parts, which have their own
emergency stop and operator protection guarding. If there is an error on
one part of the machine, the other part can continue to run while the
cause of the error is removed and the axis group restarted. For this, 2
separate axis groupings must be set up.
DISABLE_GROUP(-1) ' remove any previous axis groupings
DISABLE_GROUP(0,1,2,6) ' group axes 0 to 2 and 6
DISABLE_GROUP(3,4,5,7) ' group axes 3 to 5 and 7
WDOG=ON ' turn on the enable relay and the remote drive enable
FOR ax=0 TO 7
AXIS_ENABLE AXIS(ax)=ON ' enable the 8 axes
SERVO AXIS(ax)=ON ' start position loop servo for each axis
NEXT ax
Section 4-2
135