Nesting; Unit For Time; 6-1-10 Conditional Expression - Omron CS1W-MCH71 Operation Manual

Basic Information
Calling Sub-program
Parallel Branching
END Command Execution
6-1-8

Nesting

6-1-9

Unit for Time

6-1-10 Conditional Expression

276
Group Command
2 PASSMODE/
STOPMODE
3 Operand F
If a sub-program has been called using the GOSUB command, all modal data
is inherited. Also, when the operation returns to the main program from sub-
program, all modal data is inherited.
If parallel branching has been executed using the PARALLEL command,
modal data for all the branches is inherited.
Modal data that has been changed during each branch will not affect other
branches.
When branches join together again, the modal data of the leftmost branch is
inherited to subsequent blocks.
The execution of END command does not initialize modal data.
Nesting levels for nest-able commands are as follows:
Command
GOSUB 5 layers
WHILE-WEND 10 layers
FOR-NEXT 10 layers
IF-ELSE-ENDIF 10 layers
The unit for time used for the following commands is [ms].
The minimum command unit is 1msec, however, the actual resolution is deter-
mined based on the system scan cycle (remainder to be omitted).
Command
MOVET Positioning time
CAM Cam execution time
DWELL Dwell time
Conditional expressions can be used for the following commands.
Command
WAIT Wait for Condition to be Met
STOPOP Optional End
IF Conditional Branching
WHILE Repeat While
Conditional expressions are shown in the following table. Immediate values or
variables are the only the objects of comparison. If other data types are used,
the program cannot be downloaded.
Conditional
Expression
Equal to (Immediate value or Variable) = = (Immediate value or Variable)
Not equal to (Immediate value or Variable)<>(Immediate value or Variable)
Greater than (Immediate value or Variable)>(Immediate value or Variable)
Default value
PASSMODE P00M08 (M = 1-8)
F = 0 P00M09 (M = 1-8)
Motion task
Time
Function
Format
Section 6-1
Parameter No.