Automatic Operation (Position Control)
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8.8 Sample Programs
8.8.1 Sample Programs (E-point, P-point and C-point Controls)
The operation for starting the positioning operation is mainly divided into five steps on a user
program.
• Read flags stored in the unit memories (input control area).
• Control the Servo ON/OFF.
• Check the condition if the control of each axis can be started.
• Set positioning table numbers, check the conditions, and start the positioning operation.
• Write operation results in the unit memories (output control area).
(Note): The sample program on the next page is for activating the positioning operation with the table number 1 of the
axis number 1 for the FP7 MC Unit installed in the slot number 1. To simplify the explanation, the part related to
the positioning operation is extracted.
Contents of sample program
Mark Description
①
Read flags indicating states from the input control area of the unit memories (UM) to arbitrary areas
(WR).
Read flags such as connection confirmation flag, servo lock flag, busy flag, and error annunciation
flag.
②
Servo ON/OFF control program
③
Check required conditions and replace it with the start enabled flag (R110) in the program.
④
Positioning operation start program
ⓐ
Set the repeat count as necessary.
ⓑ
Specify positioning table numbers.
ⓒ
Start the positioning operation.
⑤
Write flags to the output control area of the unit memoires (UM) from arbitrary area (WR) where the
start conditions are written.
Start the positioning operation.
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