Omron CS1W-MCH71 Operation Manual page 395

Command Details
Sub-Program End
(RETURN)
Command type
Format
Operand
Description
Dwell Time (DWELL)
Command type
Format
Operand
Operand Setting range
Dwell time 0 to 60000
Note
Description
Wait for Condition to
be Met (WAIT)
Command type
Format
350
Sub-program is ended.
Single execution command
RETURN;
Ex: RETURN;
Nil
• Sub-program is ended and the operation returns to the program that
called the sub-program.
• If RETURN command is not present in a sub-program, the program can-
not be loaded.
• All the axes reserved by axis declaration are returned to the main pro-
gram.
• RETURN command execution will be completed when the operation
returns the program that called the sub-program.
The operation waits for the specified time period.
Single execution command
DWELL_T<dwell time>;
Ex: DWELL_T100;
Decimal
Bit
No No
Word data is extended to long word data with a sign in the MC Unit.
• The operation waits for the time period specified in Dwell time. The unit is
in [ms].
• During DWELL command execution, if the motion program is stopped
(except for block stop), waiting will be cancelled. When the program is
resumed with the motion task control bit: [Start Mode] = 1 (resume from
where the operation was stopped), waiting will be resumed for the remain-
ing time.
• DWELL command is not an axis movement command, however, it is the
cancel object of STOPOP command. When it is cancelled, waiting will be
immediately cancelled and the command execution is completed.
• DWELL command execution will be completed when the specified waiting
time period elapses.
The next block will not be executed until the conditional expression is satis-
fied.
Multiple execution command
WAIT_<conditional expression>
Ex: WAIT_#DW0001 = = 1;
Variable specification
Word Long Real
word number
Yes (See Yes No
note.)
Section 6-3
INC/ ABL
influ-
Indirect
ence
specifi-
cation
Yes No