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4 HIGH-LEVEL POSITIONING CONTROL
4.5 Start Program for High-level Positioning Control
Example of a start program for high-level positioning control
The following shows an example of a start program for high-level positioning control in which the 1st point "block start data" of
axis 1 is started. (The block No. is regarded as "7000".)
Control data that require setting
The following control data must be set to execute high-level positioning control. The setting is carried out using a program.
n: Axis No. - 1
Refer to the followings for details on the setting details.
Page 504 Control Data
Start conditions
The following conditions must be fulfilled when starting the control. The required conditions must also be integrated into the
program, and configured so the control does not start unless the conditions are fulfilled.
Setting item Setting
value
Setting details Buffer memory address
[Cd.3] Positioning start No. 7000 Set "7000" to indicate control using "block start data". 4300+100n
[Cd.4] Positioning starting point No. 1 Set the point No. of the "block start data" to be started. 4301+100n
Signal name Signal state Device
Interface
signal
PLC READY signal ON CPU module preparation completed Y0
READY signal ON RD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
Synchronization flag ON The RD77MS buffer memory can be accessed. X1
Axis stop signal OFF Axis stop signal is OFF [Cd.180] Axis stop
Start complete signal OFF Start complete signal is OFF [Md.31] Status: b14
BUSY signal OFF BUSY signal is OFF X10 to X1F
Error detection signal OFF There is no error [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF [Md.31] Status: b12
External
signal
Forced stop input signal ON There is no forced stop input
Stop signal OFF Stop signal is OFF
Upper limit (FLS) ON Within limit range
Lower limit (RLS) ON Within limit range
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