Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 579

Program Example
10-1-26 Present Position Latch (LATCH)
Explanation of the
operation
Program
Explanation of the
program
556
04) to 07) When the present position reaches 10000, if the general input
(IW0B00) is 1, the target position will be changed to 40000. If the
general input (IW0B00) is not 1, the target position will not be
changed.
08) The program is held for 3 seconds.
09) The axis returns to the origin.
10) The program is completed.
• The present position of a specified axis is saved to the word for variables.
• In this example, the axis moves to the position 100000 (a position exceed-
ing the target position). When the external input is turned ON in the mid-
way, the position will be assigned to the position data.
• The axis movement is similar to the one of 10-1-9 Stopping Operation
with Optional End Using General Input and Assigning Position Data
(page 478), however, the axis does not stop midway in the initial opera-
tion, moves to the position 100000, and returns to the origin.
• Positioning after execution of LATCH command is performed using the
assigned position data. Additionally, if the latch start and end positions
are specified, the rise of the external inputs outside of the range will be
ignored. This can be useful when the external input turns ON twice or
more due to the machine structure.
External ON
input
OFF
Axis
movement
0
Origin
return
Positioning
0
01) PROG P030 Q00000001;
02) STOPMODE;
03) PARALLEL N2;
04) MOVEL [J01]100000 F500000;
05) JOINT;
06) LATCH [J01]#PL0015 I80000 J90000;
07) JWAIT;
08) MOVE [J01]0;
09) WHILE #IW0B00 <> 1;
10) MOVEL [J01]#PL0015;
11) MOVE [J01]0;
12) WEND;
13) END;
01) A program No. and axes to be used are specified.
02) Stop Mode is selected.
03) With PARALLEL command, 04) and 06) are executed in parallel.
Latch position X
is assigned to the
100000
position data.
X
Section 10-1
PL0015
X
Positioning to the
position X (content
of position data)