Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 538

Coordinate System
J02
Machine Workpiece
Coordinate Coordinate System
System
(15000)
15000
(9000) 12000
4000
(0)
0
Basic Item
When starting New
Program Operation
When calling a Sub-
program
When Parallel Branching
When executing the END
Command
9-3-2 Limited Length Axis and Unlimited Length Axis
Positioning to (20,000, 15,000)
Before execution of WORK command (1)
14000
−3000
10000
Machine and Workpiece Coordinate Systems
• The offset value (offset value set in OFFPOS command) is the data for
each axis and motion programs or motion tasks do not influence it.
• The coordinate system select (coordinate system type or number set in
ORIGIN or WORK command) is the data for each motion program and
axes or motion tasks do not influence it.
When a new main program operation is started (the first execution after the
power is turned ON or execution in Start Mode = 0 or 3), the machine coordi-
nate system will be always used. The offset value of the previously executed
program will be used, however, the coordinate system select will not be inher-
ited to the new program.
• When a sub-program is called, the offset value and coordinate system
select of the main program will be inherited to the sub-program.
• When returning to the main program from the sub-program, the coordi-
nate system select will be inherited.
• When executing parallel branching using PARALLEL command, the offset
value and coordinate system select will be inherited to all the branches.
• The offset value and coordinate system select changed in a branch will
influence other branches.
The offset value and coordinate system select will not be initialized at the
point when the program is ended by END command.
Either of the two types of coordinate management can be used, which can be
selected in the parameter [P5AA07: Axis feed mode].
• Limited length axis:
Used for the axes with traveling limits such as XY tables.
ORIGIN;
ABL MOVE [J01]14000 [J02]9000;
ABL MOVE [J01]20000 [J02]15000; 1
:
ORIGIN;
After execution of WORK
command (2) ABL MOVE [J01]14000 [J02]9000;
OFFPOS C1 [J01]4000 [J02]-3000;
WORK C1;
ABL MOVE [J01]20000 [J02]15000; 2
20000
20000
Section 9-3
J01
515