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MELSEC-A
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Position control operation timing and process time
M code ON signal
(WITH mode)
Cd. 14 M code OFF request
t1
t2
t3
t4
t5
t2
t6
Cd. 14 M code OFF request
Positioning
start signal
Waiting
Controlling position
Waiting
Zero point return complete flag *
[ Md.40 Status:b4]
BUSY signal
Start complete signal
Position command
Positioning operation
Positioning complete signal *
M code ON signal
(AFTER mode)
Md.35 Axis operation status
[Y10,Y11,Y12]
[X4,X5,X6]
[XD,XE,XF]
[X1,X2,X3]
[XD,XE,XF]
[X7,X8,X9]
Fig. 6.9 Position control operation timing and process time
• When the positioning start signal turns ON, if all signals marked with an
asterisk (*) are already ON, the signals marked with an asterisk (*) will turn
OFF when the positioning start signal turns ON.
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6
5 to 15 0 to 3.5
Follows
parameters
•
The t1 timing time could be delayed by the following factors.
1) Presence of FROM/TO command execution during start process
2) Operation state of other axes
3) Presence of intervention from peripheral device during start process
4) Details of positioning data to be started
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