Omron CP - PROGRAMMING MANUAL 05-2007 Programming Manual page 177

Sequence Control Instructions
144
• A3 is interlocked when Arm RUN is OFF.
Global interlock
(Emergency stop)
A1 (Peripheral processing)
Partial interlock
(Conveyor RUN)
A2 (Conveyor operation)
Partial interlock
(Arm RUN)
A3 (Arm operation)
Differences between MILH(517) and MILR(518)
Differentiated instructions (DIFU(013), DIFD(014), or instructions with a @ or
% prefix) operate differently in interlocks created with MILH(517) and
MILR(518).
When a program section is interlocked with MILR(518), a differentiated
instruction will not be executed when the interlock is cleared even if the differ-
entiation condition was activated during the interlock (comparing the status of
the execution condition when the interlock started to its status when the inter-
lock was cleared).
When a program section is interlocked with MILH(517), a differentiated
instruction will be executed when the interlock is cleared if the differentiation
condition was activated during the interlock (comparing the status of the exe-
cution condition when the interlock started to its status when the interlock was
cleared).
MILH
When the Emergency Stop is ON (input
condition OFF), A1, A2, and A3 are
0
interlocked.
When the Emergency Stop is OFF (input
condition ON), A1 is executed normally and A2
and A3 are controlled by the Conveyor RUN
and Arm RUN switches as described below.
MILH
When the Conveyor RUN switch is OFF (input
condition OFF), both A2 and A3 are interlocked.
1
When the Conveyor RUN switch is ON (input
condition ON), A2 is executed normally and A3 is
controlled by the Arm RUN switch as described
below.
MILH
When the Arm RUN switch is OFF (input
condition OFF), A3 is interlocked.
2
When the Arm RUN switch is ON (input
condition ON), A3 is executed normally.
MILC
2
MILC
1
MILC
0
Section 3-4