Chapter 5 Positioning Instructions
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(2) Example of Use of the Instruction
• The indirect starting instruction is described with the example of the following program.
• The example of use of the IST instruction is described on the basis of axis X.
(a) Example of the Program
(b) Device Used
end position single 0 7,000 0 1 100 10
(c) Operation of the Program
• If there is the rising edge of M0001 used as the axis X indirect starting instruction signal, the IST
instruction is executed.
(Not if axis X is operating or in error.)
• If the origin is not fixed when the DST is started, error code 224 will appear and operation will not
occur. In such a case, turn on M0000, execute the ORG instruction and thereby carry out the
origin return, and start the DST instruction.
1) If the direct starting instruction (IST instruction) is executed, positioning operation starts as set
in the operand as follows.
- Since sl and ax are 0, built-in positioning axis X of the basic unit is started.
- Because the starting step number is set as 3, positioning operation is carried out by the
data of No. 3 step of the positioning operation data. That is, if the IST instruction is started,
positioning control is conducted in the Incremental coordinates as set in operation data No.
3 step, moves up to 7,000 pulse at 100pps, stops, and when the dwell time of 10ms passes,
positioning is finished.
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