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31 POSITIONING INSTRUCTION
31.2 Pulse Y Output
Items related to speed
• If the command speed is set to 0 when the instruction is activated, the operation ends with an error.
• If the command speed is changed to 0 during operation, the operation does not end with errors but it immediately stops. As
long as the drive contact is on, changing the command speed restarts pulse output.
• The acceleration time and deceleration time are disabled because acceleration and deceleration are not performed.
• The bias speed is disabled because the speed is changed immediately.
Positioning address
• If the positioning address is 0 when the instruction is activated, unlimited pulses are output.
• When unlimited pulses are being output, the operation ends normally if the pulse decelerate and stop command is turned
on.
• The operation ends with an error if the positioning address is changed to a value smaller than the number of pulses that
have been output or a value outside the range during positioning operation. The positioning address becomes invalid if it is
changed from 0 to a value other than 0 or from a value other than 0 to 0 during positioning operation.
When unlimited pulses are not being output, set the number of output pulses per PLSY/DPLSY instruction execution to
2147483647 or lower. An error occurs if the number of pulses exceeds 2147483648.
Operation of the complete flags
The following describes the operation timings of the complete flags.
*1 The flag turns on only for one scan when the drive contact of the instruction turns from OFF to ON.
Program example
The following is a program example of pulse output from axis 1 (Y0).
Unlimited pulses output: Positioning address (operand (n)) = 0
Pulse output: Positioning address (operand (n)) > 0
Item FX3 compatible
Instruction execution complete flag (SM8029) Instruction execution abnormal end flag (SM8329)
ON
condition
• From when pulse output of the specified positioning address is
completed to when the drive contact is turned off
• Pulse decelerate and stop command (when unlimited pulses are
being output)
From when the following operation or function is completed to when the
drive contact is turned off
• The axis is already used.
*1
• Pulse output stop command
• Pulse decelerate and stop command (when unlimited pulses are not
being output)
• Limit of the moving direction
• All outputs disabled (SM8034)
• Positioning address error
ON OFF
condition
When the drive contact is turned off
PLSY K0 K1K1000
Y0
1000 pps
Unlimited pulses (K0)
Drive
contact
PLSY K500 K1K1000
Y0
1000 pps
K500
Drive
contact
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