Omron CS1W-MC221 -, Operation Manual

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G-language Commands Section 7-3
7-3-9 G26: REFERENCE ORIGIN RETURN
Moves to the reference origin.
Format G26_<Axis name ... >[_M<M code>[/Stopover (Note.)]]
[_D<D code>[/Stopover (Note.)]]
Note The stopover function can be used with either an M code or a D code, but not
with both.
Operands The following table shows the possible settings for the operands.
Note Refer to 7-4 M Code Outputs for details on M codes, and to 7-4-9 D Code Out-
puts for details on D codes. Refer to 7-4-10 Stopover Function for details on
the stopover function. Refer to SECTION 9 Establishing the Origin for details
on origin searches.
Description This command moves the specified axes to the reference origin by PTP con-
trol. The coordinate system and mode settings will be as follows after the
return to the reference origin:
1,2,3... 1. The coordinate system will be set to the reference coordinate system.
2. The command mode will be set to absolute specification.
3. The operating mode will be set to Pass Mode.
The settings will not be switched to the ones above if the G26 command is ter-
minated while in progress by the OPTIONAL END command (G74), FORCED
BLOCK END, or other command. The command is also considered to be in
progress while waiting for the M code reset.
Programming Example The following example moves the X and Y axes to the reference origin.
: :
N010 G26 XY M500
: :
Operand Possible settings
Axis names X, Y, Z, U
M code 000 to 999
(E00) to (E31)
A0000 to A1999
D code 000(0) to 255
(E00) to (E31)
A0000 to A1999
Stopover Axes X, Y, Z, U
Coordinate data 0 to 39999999
(E00) to (E31)
A0000 to A1999
Reference origin
Reference coordinate system
The M code (M500)
is output here.