Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 337

Command Details
Operand
Operand Setting range
Program number 0 to 1999
Axis declaration 00000000 to
FFFFFFFF [hex]
Description
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
↓ ↓
0 0
Program End (END)
Command type
Format
Operand
Description
314
Ex: PROG_P1000 Q0000000F;
Decimal
Bit
No No
No No
• Program is started and axes to be used in the program are declared.
• If this command is omitted, programs cannot be loaded.
• Axis declaration describes the 32-bit string in hexadecimal corresponding
to the physical axis numbers.
Example: If physical axes J02, J03, J04, J12, and J14 are used, program
[PROG P000 Q0000280E;].
↓ ↓
0 0
• The commands to axes are valid only if they have been issued to the
declared axes (no restriction on the commands using I/O variables).
• There is no restriction on referencing the axis in such case where an axis
is used as a master axis in synchronization.
• If PROG command is not present at the beginning of a program, the pro-
gram cannot be loaded.
• If the declared axis cannot be reserved due to the following reasons when
motion main program is started, a warning will occur, and the motion pro-
gram status bit: Start warning is turned ON.
• Axis status bit: Command disabled/enabled is OFF.
• Axis status bit: Axis not used/used is ON.
• Axis status bit: Manual/Automatic mode is OFF.
• If the axis declared in a sub-program cannot be reserved when calling a
motion sub-program (when the axis is used in the main program, or in the
sub-program called by the same main program), the alarm [2007h: Axis
reservation disable] will occur.
• The axis declared in a sub-program cannot be used for the main program
that called the sub-program. The alarm [2007h: Axis reservation disable]
will occur.
The END command ends the main program.
Single execution command
END;
Ex: END;
Nil
• END command ends the main program.
• If END command is not present in the main program, the program cannot
be loaded.
Variable specification
Word Long Real
word number
No No No
No No No
↓ ↓
2 8
Section 6-3
INC/ ABL
influ-
Indirect
ence
specifi-
cation
No No
No No
↓ ↓
0 E