Omron CS1W-MCH71 Operation Manual page 436

Operating Mode
Ladder program example
to execute motion
programs
Ladder Program
R1
R2
R3
n+4.01 n+17.01
Motion program
operating
1,2,3...
Motion Program Operating
Bit
Motion Program
Completed Bit
The procedure to execute the motion program is described as a ladder pro-
gram below.
Note that, however, the following ladder program contains the circuits of only
the minimum requirements to execute a motion program. Therefore, it is nec-
essary to add circuits depending on the actual requirement for actual opera-
tions.
x+32.15 x+32.13
In Manual/ Command
automatic Disable/
mode enable
For R1 to R3, use work bits.
In this program, the program [P0001] is executed in motion task 1.
For actual operation, change the axis on which the motion program is to be
executed, motion task, and program number as needed.
Turn ON R1 in order to specify Automatic Mode.
Turn ON R2 for the following conditions:
1. Executing a program for the first time after the power is turned ON
2. Executing a program from the first block
3. When the program number was changed
Turning ON R3 will start the execution.
The Motion program operating bit turns ON during program execution, and
turns OFF when program execution is completed or stopped.
Motion program start
Motion program operating
When a motion program is completed, the motion program completed bit
turns ON (turns ON when the END command execution is completed). Even if
the motion program start is ON, the motion program operating bit turns OFF
simultaneously when the motion program completed bit is turned ON.
Motion program start
Motion program completed
Motion program operating
x+32.15 (Manual/Automatic mode)
(Program number setting)
MOV
#0001
M+22
n+4.01 (Motion program start)
Section 7-2
391