(d) Program Operation
•APM_DST instruction is executed when the rising edge of the direct start-up used as the X-
axis direct start-up instruction signal is generated. However, if X-axis is in operation or
error state, the instruction is not executed.
•If reference has not been defined at the start of DST, error code 224 is outputted to STAT_1 and
the instruction is not executed.
In such case, turn on the ‘reference determination’ signal ON and perform reference return with
APM_ORG instruction before starting-up the APM_DST instruction.
1) When the direct start-up instruction (APM_DST instruction) is executed, positioning operation is
started as set up in the operand as shown below.
- Because the BASE, SLOT and AXIS are 0, the built-in positioning X-axis of the
base unit is started.
- The target position is the 100,000 pulse set up in ADDR as DINT.
- The target velocity is 30,000 pps set up in SPEED as UDINT.
- After the positioning, the dwell time is 100ms set up in the DWEELL, and as for M code, the
123 stored in the MCODE is stored in the %KW428.
- Because POS_SPD and ABS_INC are 0, positioning control operation is based on absolute
coordinates. Since TIME_SEL is 0, the acceleration/deceleration pattern follows 1 which is
the acceleration time in the basic parameters.
In particular, when the APM_DST instruction is started, positioning is controlled in absolute
coordinates, operated at 30,000 pps up to 100,000 pulse position and stopped, and
positioning is completed after 100ms of dwell time and the M code outputs 123.
2) When the position has been determined by direct start-up, the position determination completion
signal (X-axis: %KX6722) turns on for one scan.
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