4 HIGH-LEVEL POSITIONING CONTROL
4.5 Start Program for High-level Positioning Control
161
4
Start time chart
The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of the axis 1 are continuously
executed as an example.
■Block start data setting example
■Positioning data setting example
■Start time chart
[RD77MS4 operation example]
Axis 1 block start data [Da.11] Shape [Da.12] Start data No. [Da.13] Special start
instruction
[Da.14] Parameter
1st point 1: Continue 1 0: Block start
2nd point 0: End 10 0: Block start
Axis 1 positioning data
No.
[Da.1] Operation pattern
1 11: Continuous path control
2 00: Positioning complete
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
Positioning start signal [Y10]
All axis servo ON [Y1]
READY signal [X0]
Start complete signal
([Md.31] Status: b14)
BUSY signal [X10]
Positioning complete signal
([Md.31] Status: b15)
[Cd.3] Positioning start No.
V
t
Error detection signal
([Md.31] Status: b13)
[Cd.4] Positioning starting point No.
Positioning data No.
Dwell
time
12(00)
Operation pattern
1(11)
1st point
[buffer memory address 22000]
2nd point
[buffer memory address 22001]
11(11)
10(11)
2(00)
7000
1
-32767(8001H)
10(000AH)
PLC READY signal [Y0]
Dwell
time
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