Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 340

Command Details
Operand
Description
Optional End
(STOPOP)
Command type
Format
Operand
Description
The formats of conditional expressions are shown in the following table.
Immediate values and variables are the only comparison objects. If a different
data type is used, an alarm will occur in pre-analysis.
Conditional
Expression
Equal to (Immediate value or Variable)==(Immediate value or Variable)
Not equal to (Immediate value or Variable)<>(Immediate value or Variable)
Greater than (Immediate value or Variable)>(Immediate value or Variable)
Less than (Immediate value or Variable)<(Immediate value or Variable)
Equal to or (Immediate value or Variable)>=(Immediate value or Variable)
greater than
Equal to or less (Immediate value or Variable)<=(Immediate value or Variable)
than
Nil
• The next block will not be executed until Conditional expression is satis-
fied.
• If the motion program is stopped (except for block stop) during WAIT com-
mand execution, waiting for condition to be satisfied is cancelled and the
command execution is completed. It means that waiting will not be
resumed even if it is re-started with the motion task control bit: [Start
Mode] = 1 (resume from where the operation was stopped).
• DWELL command is not an axis movement command, however, it is the
cancel object of STOPOP command. When it is cancelled, waiting for
condition to be satisfied will be immediately cancelled and the command
execution is completed.
• WAIT command execution will be completed when the conditional expres-
sion is satisfied.
If the conditional expression is satisfied, execution of the next block will be
interrupted and then the block after the interrupted block will be executed.
Single execution command
STOPOP_<conditional expression>;
Ex: STOPOP_#DW0001 == 1;
The formats of conditional expressions are shown in the following table.
Immediate values and variables are the only comparison objects. If a different
data type is used, an alarm will occur in pre-analysis.
Conditional
Expression
Equal to (Immediate value or Variable)==(Immediate value or Variable)
Not equal to (Immediate value or Variable)<>(Immediate value or Variable)
Greater than (Immediate value or Variable)>(Immediate value or Variable)
Less than (Immediate value or Variable)<(Immediate value or Variable)
Equal to or (Immediate value or Variable)>=(Immediate value or Variable)
greater than
Equal to or less (Immediate value or Variable)<=(Immediate value or Variable)
than
Nil
• If the conditional expression is satisfied, execution of the next block is
interrupted.
Section 6-3
Format
Format
317