Omron CS1W-MCH71 -, Operation Manual

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Program Example
Section 10-1
14) This is the end of FOR command from 06).
15) The program is completed.
10-1-5 Positioning with Workpiece Coordinate System with
Subprograms
Explanation of the
operation Changing coordinate systems and using subprograms, the same operation is
executed repeatedly in different positions on the machine coordinate system.
Program Main program
01) PROG P005 Q00000003;
02) OFFPOS C1 [J01]5000 [J02]5000;
03) OFFPOS C2 [J01]15000 [J02]5000;
04) OFFPOS C3 [J01]5000 [J02]15000;
05) MOVEL [J01]0 [J02]0 F300000;
06) WORK C1;
07) GOSUB P500;
08) ORIGIN;
09) MOVEL [J01]0 [J02]0 F500000;
10) NOPS;
11) #OW0BA0 = 1;
12) WAIT #IW0B00 = = 1;
13) #OW0BA0 = 0;
14) WORK C2;
15) GOSUB P500;
16) ORIGIN;
17) MOVEL [J01]0 [J02]0 F500000;
18) NOPS;
19) #OW0BA0 = 1;
20) WAIT #IW0B00 = = 1;
21) #OW0BA0 = 0;
2000
1000
1000 2000
J02
J01
2000
1000
1000 2000
J02
J01
2000
1000
1000 2000
J02
J01
J02
15000
J01
5000
15000
5000
0
Workpiece coordinate system (C3)
Workpiece coordinate
system (C1) Workpiece coordinate
system (C2)