Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 553

Program Example
10-1-5 Positioning with Workpiece Coordinate System with
Subprograms
Explanation of the
operation
Program
530
14) This is the end of FOR command from 06).
15) The program is completed.
Changing coordinate systems and using subprograms, the same operation is
executed repeatedly in different positions on the machine coordinate system.
J02
Workpiece coordinate system (C3)
J02
2000
1000
15000
1000
Workpiece coordinate
system (C1)
J02
2000
1000
5000
1000
0
5000
Main program
01) PROG P005 Q00000003;
02) OFFPOS C1 [J01]5000 [J02]5000;
03) OFFPOS C2 [J01]15000 [J02]5000;
04) OFFPOS C3 [J01]5000 [J02]15000;
05) MOVEL [J01]0 [J02]0 F300000;
06) WORK C1;
07) GOSUB P500;
08) ORIGIN;
09) MOVEL [J01]0 [J02]0 F500000;
10) NOPS;
11) #OW0BA0 = 1;
12) WAIT #IW0B00 == 1;
13) #OW0BA0 = 0;
14) WORK C2;
15) GOSUB P500;
16) ORIGIN;
17) MOVEL [J01]0 [J02]0 F500000;
18) NOPS;
19) #OW0BA0 = 1;
20) WAIT #IW0B00 == 1;
21) #OW0BA0 = 0;
J01
2000
Workpiece coordinate
system (C2)
J02
2000
1000
J01
2000 1000 2000
15000
Section 10-1
J01
J01