Chapter 5 Positioning Instructions
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(d) Program Operation
At the ascending edge of the ‘starting-up Origin return’ used for the Origin return start-up signal for
X-axis, the APM_ORG instruction is executed. At this time, the X-axis is in operation or error
status, the instruction will not be executed.
1) When the Origin return instruction (APM_ORG) is executed, the operation will be
‘Origin return at high speed (50,000 pps)’ accelerated reversely as set up in the Origin return
parameter.
2) If an ascending edge of DOG signal occurs during the operation of Origin return at high speed, it
will be decelerated and operated at the Origin return at low speed (500 pps) set up in the
parameter. The decelerating time will be 100 ㎳ set up in the parameter.
3) If the Origin signal which is an external signal enters after being changed to Origin return at low
speed, the output is immediately stopped, and the Origin determination status flag (%KX6724)
is turned on after the dwell time (100ms) set up in the parameter. From the interruption of the
output to the turning On of the Origin determination status flag (%KX6724), there may be (dwell
time + 1 scan time) of delay.
4) Here, the present address will be preset to ‘0’ which is the address of the Origin set up in the
parameter.
Note
•Take care that, if both the DOG and Origin input contact are used as the external preset
inputs of the high speed counter or as the start up signals for the external contact, the
Origin detection may become incorrect.
•During returning to Origin, the present position address is not changed.
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