Omron SYSMAC CJ Operation Manual page 349

Practical examples
5-2-6 Position on a grid
SPEED=10
FORWARD
WAIT UNTIL IN(2)=ON
prod_pos=MPOS
CANCEL
WAIT IDLE
PRINT "Product Position : "; prod_pos
SPEED=100
MOVEABS(0)
WAIT IDLE
GOTO start
A square palette has sides 1m long. It is divided into a 5 x 5 grid, and each of
the positions on the grid contains a box which must be filled using the same
square pattern of 100mm by 100mm. A dispensing nozzle controlled by digital
output 8 must be turned on when filling the box and off at all other times.
Section 5-2
337