107
bit. Execution through an external interrupt is available if bit 06 of word n is
set to 1 and pin #6 on the DIP switch is OFF, or if pins #6 and #7 are both
ON. In the latter case, execution through the command bit and through an
external interrupt are both available.
The following data must be set to execute STOP and CHANGE SPEED, but
it is the same as that set for START. Refer to
Section 4–1
for details.
Acceleration Bits 15 to 00 of DM word m+98
Deceleration Bits 15 to 00 of DM word m+99
In addition to bits 15 and 06 of word n (described under
DIP Switch Settings
above), set bits 05 to 00 of IR word n+2. If these bits are set to 00, the next
speed number after the one currently being executed will be taken as the
target speed for CHANGE SPEED. If they are set to from 01 to 15, then they
will specify the speed number to be taken as the target speed.
When executing CHANGE SPEED with an external interrupt signal, the data
from this area must be written in at least one scan time before the interrupt
signal. When executing CHANGE SPEED with a work bit (bit 06 of IR word
n), it can be written in simultaneously with the rising edge of the work bit.
4–11–1 STOP
STOP can be executed during pulse output for START, ORIGIN SEARCH,
ORIGIN RETURN, HIGH-SPEED JOG, and LOW-SPEED JOG to decelerate
to a stop (effective on signal’s rising edge). Note, however, that the next
START cannot be executed as long as STOP (either from bit 15 of IR word n
or from an external interrupt signal) is in effect.
When the STOP command bit is set during execution of a positioning action
under START, the Positioning Completed flag is not turned ON, and the posi-
tioning action number is not changed. When START is next executed, the
target position and speed of that action will be used, as long as the target
position has not been exceeded. The Busy flag, however, turns OFF, allowing
manual operations to be used up to the next START.
Here is an example in which the following DM words and data are used.
Completion code: continuous
Target position
Completion code: single
Target position
15 00
Target speed #5
Target speed #8
Positioning action #0
Positioning action #1
m+22
m+23
m+24
m+25
m+26
m+27
5
8
2
0
The following diagram shows the situation when STOP is not executed.
DM Area Settings
IR Area Settings
STOP Executed During
Positioning Actions
Example 1
External Interrupt Commands Section 4–11
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