Omron CS1W-MC221 -, Operation Manual

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G Language Overview Section 7-2
Programming Examples Use the following format for main programs.
N000 P100 XY
: :
: :
N100 G79
PROGRAM END command
Use the following format for subroutines.
N000 P510 XY
: :
: :
N100 G73
SUBROUTINE END command
When executing the main program from the first block, make initial settings
such as the following.
1,2,3... 1. Restore the acceleration/deceleration time, interpolation acceleration/de-
celeration time, and workpiece origin offset value to the system parameter
values.
2. Set the operating mode to Pass Mode.
3. Set the coordinate system to the reference coordinate system.
4. Set the command method to absolute.
7-2-5 Default Mode and Coordinate System
Various modes and coordinate systems can be used when a G-language pro-
gram is executed. The following table shows the default settings for these.
The following defaults will always be set before executing the first block of a G-
language main program.
Coordinate system or mode General description Page
Coordinate system Reference coordinate system
(Default setting) Axis positions on the reference coordinate system
are used. 416
Workpiece coordinate system Axis positions on the workpiece coordinate system
are used. 417
Command Mode Absolute specification
(Default setting) Absolute coordinates are used in axis operations. 430
Incremental specification Relative coordinates are used in axis operations. 430
Operating Mode Stop Mode For interpolation operations, the next operation is
performed only after positioning is completed. 398
Pass Mode
(Default setting) For interpolation operations, operations are
performed sequentially without decelerating to a stop
between them. 396
In-position Check OFF Mode For interpolation operations, the next operation is
performed without waiting for positioning to be
completed. 399