Omron TJ2-MC64 - PROGRAMMING Programming Manual page 346

Examples and tips
The difference between the expected position and the actual position is
measured with a photocell. This is the correction factor.
Every time a correction is made, the origin position is updated accordingly.
Example
conveyor=0
labeller=1
virtual=15
SERVO AXIS(conveyor)=1
SERVO AXIS(labeller)=1
WDOG=1
BASE(labeller)
CONNECT(1,conveyor)
ADDAX(virtual)
FORWARD AXIS(conveyor)
REGIST(1)
WAIT UNTIL MARK=0
loop:
WAIT UNTIL MARK
correction=REG_POS+expected_pos
MOVE(correction) AXIS(virtual)
WAIT IDLE AXIS(virtual)
OFFPOS=-label_length+correction
REGIST(1)
WAIT UNTIL MARK=0
GOTO loop
PROGRAMMING MANUAL
fig. 59
OFFPOS
speed
0 0
labeller
correction
0
conveyor
t
340