3.8 I/O Signals
A3-121
ME0384-4A
[Operation in direct numerical control mode]
Specify the data in the PLC position data specification register, positioning width register, speed
register, acceleration/deceleration register and push-motion current limit value register.
Operation example (push-motion operation)
<Preparation> Using the gateway parameter configuration tool, set the axis number to be used
in the direct numerical control mode. For details, refer to "3.9 Gateway
Parameter Configuration Tool / Operation mode setting" (page A3-164).
(1) Set the target position data in the position data specification register.
(2) Set the push width data in the positioning width register.
(3) Set the speed data in the speed register.
(4) Set the acceleration/deceleration data in the acceleration/deceleration register.
(5) Set the push-motion current limit data in the push-motion current limit value register.
(6) Set the push-motion specification signal PUSH to ON.
(7) Specify the push-motion direction with the push-motion direction specification signal DIR.
(8) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF, turn
ON the positioning start signal CSTR.
The data set in (1) to (5) are read into the RCON at the rising edge of the CSTR signal.
(9) After the CSTR signal is turned ON, the PEND signal turns OFF after Tpdf.
(10) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the CSTR
signal. However, be sure to set an interval of 10 ms or more from CSTR signal ON until
signal OFF. Do not change the value of each register until the CSTR signal is turned OFF.
(11) The present position data is constantly being updated.
(12) The PEND signal turns ON when the CSTR signal is OFF and the motor current reaches
the current limit value set in (5). (Push-motion complete)
Even if the push width set in (2) is reached, if the motor current does not reach the current
limit value set in (5), the push-motion contactless signal PSFL turns ON. In this case, the
PEND signal will not turn ON. (Push-motion contactless)
(13) After the PEND signal or PSFL signal turns ON, turn OFF the PUSH signal.
Operation example (normal positioning operation)
For normal positioning operation, turn the PUSH signal OFF.
When the remaining travel distance enters the positioning width range set in the positioning
width register, the PEND signal turns ON when the CSTR signal is OFF.
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