Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 285

Command Overview
Classifica- Command/func-
tion tion name
Control PROGRAM START
PROGRAM END
SUB-PROGRAM
CALL
SUB-PROGRAM
END
DWELL TIME
WAIT FOR CONDI-
TION TO BE MET
OPTIONAL END
CONDITIONAL
BRANCHING
REPEAT WHILE
REPEAT FOR
PARALLEL EXECU-
TION
SELECTIVE EXE-
CUTION
NO OPERATION
(SINGLE)
NO OPERATION
(MULTIPLE)
262
Code Applicable
task
Motion
PROG @ M
END @ S
GOSUB @ S
RETURN @ S
DWELL @ S
WAIT @ M
STOPOP @ S
IF @ M
ELS @ M
ENDIF @ M
WHILE @ M
WEND @ M
FOR @ M
NEXT @ M
PARALLEL @ S
JOINT @ S
JWAIT @ S
SWITCH @ M
CASE @ M
BREAK @ M
DEFAULT @ M
SEND @ M
NOPS @ S
NOPM @ M
Summary
Indicates the start of program.
Indicates the end of program.
Calls sub-programs.
Ends sub-program, and returns
to point where sub-program was
called.
Waits for specified period of
time, and then executes next
block.
Waits for condition to be satisfied
and executes the next block.
Aborts next block when condition
is satisfied.
Branches depending on condi-
tions.
Repeats until a given condition is
satisfied.
Repeats for a given number of
times (variable, constant, or
immediate value).
Executes specified sections in
parallel.
Executes specified sections
selectively depending on condi-
tions.
No operation (as a single execu-
tion command).
No operation (as a multiple exe-
cution command).
Section 6-2
Completion condi-
tion (Proceed to
next block)
Program start pro-
cessing completed.
Program end pro-
cessing completed.
Sub-program call
completed.
Return completed.
Dwell time elapsed.
Condition satisfied.
Condition setting
completed.
Condition check
completed.
---
No block being exe-
cuted.
Condition check
completed.
No block being exe-
cuted.
Condition check
completed.
No block being exe-
cuted.
---
No block being exe-
cuted (in branch).
All JOINT execution
completed.
Condition check
completed.
---
No block being exe-
cuted.
---
No block being exe-
cuted.
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