Omron CS1W-MC221 -, Operation Manual

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M Code Outputs Section 7-4
Format G91
Operands None
Description This command specifies that positioning axis operations are performed rela-
tive to the present position. After this command is executed, the coordinate
data in axis movement commands is treated as the distance to be moved from
the present position.
In addition to G91, the incremental coordinate system is put into effect when a
REFERENCE ORIGIN RETURN (G26), WORKPIECE ORIGIN RETURN
(G27), or ORIGIN SEARCH (G28) command is executed.
Programming Example The following example shows positioning with incremental coordinate data.
: :
N010 G91
N011 G01 X50 Y50 F100
N012 G01 X100 Y20
: :
If positioning with incremental specification is interrupted by a pause com-
mand, the axes will be moved to the original end position after the operation is
restarted. Also, if the axes have been moved or an origin search was per-
formed after the operation was interrupted, the axes will still be moved to the
original end position.
7-4 M Code Outputs
7-4-1 Introduction
M codes consist of information used to interlock with external devices in posi-
tioning operation processes. External devices are devices directly connected
to the general outputs of the CPU Unit and MC Unit.
Format M<M code>
70
50
20
50 100 150
X
Y
The axis operation would be performed
on this path with absolute specification.
Example 1 Example 2
Interruption
Moved
manually
Continued operation
Origin
Interruption
Origin search
Continued operation