Chapter 6 Command
6-6
6.3.3 Direct start (Command : DST)
(1) Program
(2) Description
Device Description
M00002 Axis X direct start input
D00000.0 Axis X in operation
D00000.1 Axis X error state
Command DST Direct start
OP1 Slot Constant WORD Slot No. installed with positioning module
OP2 Axis PMLK,constant,D,Z,R,ZR WORD Command axis(0: axis X, 1: axis Y )
OP3
Goal position PMLK,constant,D,Z,R,ZR DINT Goal position
(-2,147,483,648 ~ 2,147,483,647)
OP4 Goal speed PMLK,constant,D,Z,R,ZR DWORD Goal speed
OP5 Dwell time PMLK,constant,D,Z,R,ZR WORD Dwell time (0~65535)
OP6 M code PMLK,constant,D,Z,R,ZR WORD M code (0~65535)
Operand
OP7 Control word PMLK,constant,D,Z,R,ZR WORD
※
PMLK means P, M, L and K areas.
(a) Details of Control word (OP7) for each Bit are as follows.
15 ~ 12 11 ~ 10 9 ~ 8 7 ~ 5 4 3 ~ 1 0
-
Dec. Time
0: Dec. time1
1: Dec. time2
2: Dec. time3
3: Dec.time4
Acc. Time
0: Acc. Time1
1: Acc. Time2
2: Acc. Time3
3: Acc. Time4
-
0:Absolute
1:Increment
al
-
0:Position Control
1:Speed control
(b) If control word is h0010, it shall be set by position control, Incremental, acc. Time1, dec. time 1.
(c) No.1~3, 5~7, 12~15 Bit of control word is the unused area and does not affect the setting.
(d) D device signal (axis X in Operation, etc) which used in the example above is an assumption that saving the axis state
value in D device area with SRD command.
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