Mitsubishi Electric MELSEC iQ-R Series - Page 1773

22 POSITIONING INSTRUCTIONS
22.2 Starting the Positioning
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• The following figure shows the operation at completion of the PSTRT instruction.
Precautions
• If the positioning is started by using the PSTRT instruction, the Position start signal [Y10, Y11, Y12, Y13] will not turn on.
In this case, although the start completion signals [X10, X11, X12, X13] turn on, the ON time is short; the program may fail
to detect the ON state. For this reason, start completion cannot be checked using the start completion signals [X10, X11,
X12, X13]. Check the positioning control status with the start command of the PSTRT instruction or the BUSY signal [XC,
XD, XE, XF].
• If the positioning is started by using the PSTRT instruction, and then the stop command is input before the positioning
completes, the completion device (d) turns on for one scan and the execution of the PSTRT instruction completes.
• The following instructions cannot be executed simultaneously to a single axis. For different axes, any of the following can
be executed concurrently with a G.ABRST instruction.
• The PSTRT instruction is executed when the RD75 READY signal [X0] is on. While the RD75 READY signal [X0] is off,
the instruction cannot be executed even though it is requested. (No processing is performed.) Before executing the
instruction, turn on both the PLC READY signal [Y0] and the RD75 READY signal [X0].
• If multiple axes concurrent start is executed using the PSTRT instruction, the completion device (d) turns on when the
positioning completes for the axis where the PSTRT instruction has been executed (e.g. Axis 1 for GP.PSTRT1).
• If the PSTRT instruction is used, the starting time will delay 0 to 0.88ms relative to the Positioning start signal [Y10, Y11,
Y12, Y13].
Operation error
• Positioning start instruction (PSTRT)
• Absolute position restoration instruction (ABRST)
• Teaching instruction (TEACH)
Error code
((s)+1)
Description
1862H A value other than 1 to 600, 7000 to 7004, or 9001 to 9004 was set in "Starting number" of (s)+2.
1865H An instruction was specified for an undefined axis (e.g. the GP.PSTRT3 instruction was specified when RD75P2 is used).
END0END0END0END0END0
OFF
OFF
OFF
OFF
ON
ON
Sequence scan
PSTRT instruction
Completion device (d)
Completion status
indication device (d)+1
Completed with an error
Execution of
the instruction
Completed
successfully
1 scan
Completion of the instruction