Omron SYSMAC CJ - REFERENCE MANUAL 08-2008 Reference Manual page 258

Sequence Control Instructions
218
Global interlock
(Emergency stop)
MILH
A1 (Peripheral processing)
Partial interlock
(Conveyor RUN)
MILH
A2 (Conveyor operation)
Partial interlock
(Arm RUN)
MILH
A3 (Arm operation)
MILC
MILC
MILC
Differences between MILH(517) and MILR(518)
Differentiated instructions (DIFU, DIFD, or instructions with a @ or % prefix)
operate differently in interlocks created with MILH(517) and MILR(518).
When a program section is interlocked with MILR(518), a differentiated
instruction will not be executed when the interlock is cleared even if the differ-
entiation condition was activated during the interlock (comparing the status of
the execution condition when the interlock started to its status when the inter-
lock was cleared).
When a program section is interlocked with MILH(517), a differentiated
instruction will be executed when the interlock is cleared if the differentiation
condition was activated during the interlock (comparing the status of the exe-
cution condition when the interlock started to its status when the interlock was
cleared).
When the Emergency Stop is ON (input
condition OFF), A1, A2, and A3 are
0
interlocked.
When the Emergency Stop is OFF (input
condition ON), A1 is executed normally and A2
and A3 are controlled by the Conveyor RUN
and Arm RUN switches as described below.
When the Conveyor RUN switch is OFF (input
condition OFF), both A2 and A3 are interlocked.
1
When the Conveyor RUN switch is ON (input
condition ON), A2 is executed normally and A3 is
controlled by the Arm RUN switch as described
below.
When the Arm RUN switch is OFF (input
condition OFF), A3 is interlocked.
2
When the Arm RUN switch is ON (input
condition ON), A3 is executed normally.
2
1
0
Section 3-5