Return to Reference Return to Home instruction signal BIT -
Indirect starting Indirect start-up reference signal BIT -
Deceleration stop Deceleration stop reference signal BIT -
%KX6720 X-axis in position control signal BIT -
%KX6721 X-axis error state BIT -
(d) Program Operation
•At the rising edge of the ‘Indirect Start-up’ signal used as the indirect start-up reference signal, the
Installation instruction is executed.
- In the above program, indirect start-up for the No. 1 step of the X-axis is executed.
•At the rising edge of the ‘Deceleration Stop’ signal used as the deceleration stop during operation
reference signal, the deceleration stop instruction is executed in accordance with the setting of the
STP instruction.
- Since the BASE, SLOT and AXIS are set to 0, deceleration stop is executed to the X-axis of the
internal positioning of the base unit.
- At this time, since the deceleration time setting is 0, the STP instruction will result in immediate
stop without deceleration time.
• For APM_STP instruction execution, take care of followings;
- When stopping by deceleration stop instruction, positioning operation is not completed until the
set up target position. Therefore, position determination completed signal (X-axis: %KX6722, Y-
axis: %KX6882) is not created, and if M code was set up, the M code signal is not turned on,
neither.
- In this case, the present operation step No. is maintained.
- If indirect start-up instruction is executed again later, operation method varies by coordinate
system.
1) In absolute coordinate system: output the residual position output not outputted in the
present operation step.
2) In Incremental coordinate system: operates for the new target position value.
- For example, if the target value of the respective step is 20,000 and was stopped at position of
15,000 by deceleration stop instruction, and if the indirect start-up instruction is executed again;
in absolute coordinate system, the system travels for the rest value of 5,000 and stops at
position 20,000, and; in Incremental coordinate system, the system travels 20,000 again and
stops at 35,000.
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