Program Number And Axis Declaration; Default Mode And Coordinate System - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Command Overview
6-2-4

Program Number and Axis Declaration

Format
Program Number
Axis Declaration
Program Example
J32 J31 J30 J29 J28 J27 J26 J25 J24 J23 J22 J21 J20 J19 J18 J17 J16 J15 J14 J13 J12 J11 J10 J09 J08 J07 J06 J05 J04 J03 J02 J01
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6-2-5

Default Mode and Coordinate System

Coordinate system
Coordinate system Machine coordinate system
Workpiece coordinate system Positioning is performed on the workpiece coordinate system.
Travel distance spec- Absolute specification
ification
Incremental specification
Operating mode Stop Mode
Pass Mode
270
The program number and axes to be used in the program are specified in
PROG command (Program Start). Refer to Program Start (PROG) on
page 313.
PROG_P <Program Number> {Q <Axis Declaration>};
The table below shows the relations between the program number and main
program/sub-program for motion tasks.
Program No.
0000-0499 Main program for motion tasks
0500-0999 Sub-program for motion tasks
In "Axis Declaration", axes to be used in the program are specified with the bit
train (32-bit) in hexadecimal corresponding to the physical axis numbers.
When using the physical axes (numbers J02, J03, J04, J12, and J14) in the
motion task main program "0000", the bit train for the axes to be used will be
as shown below:
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0 0
Therefore, in the PROG command, the following description is used:
PROG P000 Q0000280E;
Various modes and coordinate systems can be used when executing com-
mands.
The following table shows the default settings for these.
Positioning is performed on the reference (machine) coordinate
system (Default setting)
Positioning is performed with absolute positions. (Default setting)
Positioning is performed with relative positions.
For interpolation operations, the next operation is performed only
after positioning is completed. (Default setting)
For interpolation operations, the next operation is performed with-
out waiting for positioning to be completed.
Program
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2 8
General description
Section 6-2
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