Omron CS1W-MCH71 -, Operation Manual

Page: 393 / 717

348
Command Details
Section 6-3
Ex: PROG_P1000 Q0000000F;
Operand
Description • Program is started and axes to be used in the program are declared.
• If this command is omitted, programs cannot be loaded.
• Axis declaration describes the 32-bit string in hexadecimal corresponding
to the physical axis numbers.
Example: If physical axes J02, J03, J04, J12, and J14 are used, program
[PROG P000 Q0000280E;].
• The commands to axes are valid only if they have been issued to the
declared axes (no restriction on the commands using I/O variables).
• There is no restriction on referencing the axis in such case where an axis
is used as a master axis in synchronization.
• If PROG command is not present at the beginning of a program, the pro-
gram cannot be loaded.
• If the declared axis cannot be reserved due to the following reasons when
motion main program is started, a warning will occur, and the motion pro-
gram status bit: Start warning is turned ON.
• Axis status bit: Command disabled/enabled is OFF.
• Axis status bit: Axis not used/used is ON.
• Axis status bit: Manual/Automatic mode is OFF.
• If the axis declared in a sub-program cannot be reserved when calling a
motion sub-program (when the axis is used in the main program, or in the
sub-program called by the same main program), the alarm [2007h: Axis
reservation disable] will occur.
• The axis declared in a sub-program cannot be used for the main program
that called the sub-program. The alarm [2007h: Axis reservation disable]
will occur.
Program End (END)
The END command ends the main program.
Command type Single execution command
Format END;
Ex: END;
Operand Nil
Description • END command ends the main program.
• If END command is not present in the main program, the program cannot
be loaded.
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Program number 0 to 1999 No No No No No No No
Axis declaration 00000000 to
FFFFFFFF [hex] No No No No No No No
J32 J31 J30 J29 J28 J27 J26 J25 J24 J23 J22 J21 J20 J19 J18 J17 J16 J15 J14 J13 J12 J11 J10 J09 J08 J07 J06 J05 J04 J03 J02 J01
0 0 0 0 2 8 0 E
↓ ↓ ↓ ↓ ↓ ↓ ↓ ↓