Omron SYSMAC CJ Operation Manual page 313

How-to's
REVERSE
The figure shows the possible scenarios for absolute origin search plus limit
switches. These scenarios depend on the position of the moving part when the
power comes on.
The program example that does this origin search sequence is given below.
'Absolute origin switch: IN0
'Left limit switch: IN1
'Right limit switch: IN2
BASE(0)
DATUM_IN=0
FWD_IN=2
REV_IN=1
SERVO=ON
WDOG=ON
DATUM(4)
WA(1)
WAIT UNTIL MTYPE=0 OR IN(1)=OFF
IF IN(1)=ON
FORWARD
WAIT UNTIL IN(0)=ON
WAIT UNTIL IN(0)=OFF
CANCEL
DATUM(4)
WA(1)
WAIT IDLE
ENDIF
min limit switch
origin limit switch
max limit switch
FORWARD
Section 5-1
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