Omron CS1W-MCH71 -, Operation Manual

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Command Details
Section 6-3
Sub-Program End
(RETURN)
Sub-program is ended.
Command type Single execution command
Format RETURN;
Ex: RETURN;
Operand Nil
Description • Sub-program is ended and the operation returns to the program that
called the sub-program.
• If RETURN command is not present in a sub-program, the program can-
not be loaded.
• All the axes reserved by axis declaration are returned to the main pro-
gram.
• RETURN command execution will be completed when the operation
returns the program that called the sub-program.
Dwell Time (DWELL)
The operation waits for the specified time period.
Command type Single execution command
Format DWELL_T<dwell time>;
Ex: DWELL_T100;
Operand
Note Word data is extended to long word data with a sign in the MC Unit.
Description • The operation waits for the time period specified in Dwell time. The unit is
in [ms].
• During DWELL command execution, if the motion program is stopped
(except for block stop), waiting will be cancelled. When the program is
resumed with the motion task control bit: [Start Mode] = 1 (resume from
where the operation was stopped), waiting will be resumed for the remain-
ing time.
• DWELL command is not an axis movement command, however, it is the
cancel object of STOPOP command. When it is cancelled, waiting will be
immediately cancelled and the command execution is completed.
• DWELL command execution will be completed when the specified waiting
time period elapses.
Wait for Condition to
be Met (WAIT)
The next block will not be executed until the conditional expression is satis-
fied.
Command type Multiple execution command
Format WAIT_<conditional expression>
Ex: WAIT_#DW0001 = = 1;
Operand Setting range Decimal Variable specification INC/ ABL
influ-
ence
Bit Word Long
word
Real
number
Indirect
specifi-
cation
Dwell time 0 to 60000 No No Yes (See
note.) Yes No Yes No