Omron SYSMAC CJ Operation Manual page 215

All BASIC commands
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Example A sheet of glass is fed on a conveyor and is required to stop 250 mm
after the leading edge is sensed by a proximity switch. The proximity
switch is connected to the registration input:
MOVE(10000) 'Start a long move on conveyor
REGIST(3) 'set up registration
WAIT UNTIL MARK
'MARK becomes TRUE when sensor detects glass edge
OFFPOS = -REG_POS 'set position where mark was seen to 0
WAIT UNTIL OFFPOS=0 'wait for OFFPOS to take effect
MOVEMODIFY(250) 'change move to stop at 250mm
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Example A paper feed system slips. To counteract this, a proximity sensor is posi-
tioned one third of the way into the movement. This detects at which
position the paper passes, and thus how much slip has occurred. The
move is then modified to account for this variation.
paper_length=4000
DEFPOS(0)
REGIST(3)
MOVE(paper_length)
WAIT UNTIL MARK
slip=REG_POS-(paper_length/3)
offset=slip*3
MOVEMODIFY(paper_length+offset)
250mm
ORIGINAL MOVE
SENSOR SEEN
SENSOR
Section 4-2
203