G-Language Commands; G00: Positioning - Omron CS1W-MC221 - 02-2008 Operation Manual

G-language Commands

7-3 G-language Commands
7-3-1

G00: POSITIONING

Format
Operands
Description
384
This section provides detailed descriptions of the G-language commands.
Command formats, operands, and application are described and program-
ming examples are provided. The command format shows the operands that
can be used and shows the correct syntax using the following notation.
< > Name of an operand to be specified
[ ] Optional operand
... An operand that can be specified more than once. For example,
multiple coordinates can be specified like this: <X1000 Y500>
@ A required space
_ Optional space
The descriptions provided in this section are for the CS1W-MC421. The
CS1W-MC221 supports only the X and Y axes.
Positions up to four axes simultaneously with PTP control at the high-speed
feed rate.
G00_<Axis movement command ...> [_M<M code>[/Stopover (Note.)]]
Note The stopover function can be used with either an M code or a D code, but not
with both.
The following table shows the possible settings for the operands.
Operand
Axis movement Axes
command
Coordinate data –39,999,999 to +39,999,999
M code
D code
Stopover Axes
Position data
Optional number
Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out-
puts for details on D codes. Refer to 7-4-10 Stopover Function for details on
the stopover function.
Positions up to four axes simultaneously with PTP control according to the
maximum feed rate, acceleration/deceleration time, and acceleration/deceler-
ation curve settings in the system parameters. The override is valid.
When "+" or "–" is specified for the coordinate data, positioning will be per-
formed to the software limit in the specified direction.
Control is passed on to the next block after all of the specified axes reach their
in-position ranges.
[_D<D code>[/Stopover (Note.)]]
[_#<optional number>]
Possible settings
X, Y, Z, U
(E00) to (E31)
A0000 to A1999
+ or –
000 to 999
(E00) to (E31)
A0000 to A1999
000(0) to 255
(E00) to (E31)
A0000 to A1999
X, Y, Z, U
0 to 39999999
(E00) to (E31)
A0000 to A1999
00 to 19
Section 7-3