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8 CONTROL SUB FUNCTIONS
8.6 Functions Related to Start
8.6 Functions Related to Start
A function related to start includes the "pre-reading start function". This function is executed by parameter setting or program
creation and writing.
Pre-reading start function
The "pre-reading start function" does not start servo while the execution prohibition flag is ON if a positioning start request is
given with the execution prohibition flag ON, and starts servo within operation cycle after OFF of the execution prohibition flag
is detected. The positioning start request is given when the axis is in a standby status, and the execution prohibition flag is
turned OFF at the axis operating timing.
Controls
The pre-reading start function is performed by turning ON the positioning start signal with the execution prohibition flag
[Cd.183] ON. However, if positioning is started with the execution prohibition flag ON, the positioning data is analyzed but
servo start is not provided. While the execution prohibition flag is ON, "[Md.26] Axis operation status" remains unchanged
from "5: Analyzing". The servo starts within operation cycle after the execution prohibition flag has turned OFF, and "[Md.26]
Axis operation status" changes to the status (e.g. position control, speed control) that matches the control method. Turn OFF
the execution prohibition flag after "2: Completed" is set to "[Md.503] Pre-reading data analysis status". (Refer to the following
figure.)
■RD77MS4 operation example
Ta
V
t
Positioning control
[Cd.183] Execution
prohibition flag
Positioning start signal
[Y10, Y11, Y12, Y13]
BUSY signal
[X10, X11, X12, X13]
[Md.503] Pre-reading
data analysis status
[Md.26] Axis operation status
Standby
Standby
StandbyAnalyzing
Analyzing
Completed
Position control
Operation cycle
or less
Execution prohibition flag
OFF waiting
Positioning
data analysis
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