Omron SYSMAC CJ Operation Manual page 241

All BASIC commands
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Example Components are placed on a flighted belt. The flights are 120 mm apart.
The components are on the belt 30 mm from the flights. When a compo-
nent is found, an actuator pushes it off the belt. To prevent that the sen-
sor finds a flight instead of a component, registration with windowing is
used.
REP_DIST=120 'sets repeat distance to pitch of belt flights
REP_OPTION=ON
OPEN_WIN=30 ' sets window open position
CLOSE_WIN=90 ' sets window close position
REGIST(4+256) ' R input registration with windowing
FORWARD ' start the belt
box_seen=0
REPEAT
WAIT UNTIL MPOS<60 ' wait for centre point between flights
WAIT UNTIL MPOS>60 ' so that actuator is fired between flights
IF box_seen=1 THEN ' was a box seen on the previous cycle?
OP(8,ON) ' fire actuator
WA(100)
OP(8,OFF) ' retract actuator
box_seen=0
ENDIF
IF MARK THEN box_seen=1 ' set "box seen" flag
REGIST(4+256)
UNTIL IN(2)=OFF
CANCEL ' stop the belt
WAIT IDLE
GLUE APPLICATOR
SENSOR
ENCODER
Section 4-2
229