4.1 Adding Expansion Units......................................................................4-2
4.2 Performing Parameter Settings...........................................................4-5
4.3 List of Pulse_4Axes Parameters.........................................................4-6
4.4 Function Blocks Used for the Pulse Output Unit.................................4-8
4.5 Increment and Absolute......................................................................4-9
4.6 Selection of Acceleration / Deceleration Method ................................4-11
4.7 Servo ON Output ................................................................................4-12
4.7.1 Controlling Servo ON Output ........................................................... 4-12
4.7.2 Checking Servo ON Output ............................................................. 4-12
4.8 Internal Absolute Counter ...................................................................4-13
4.8.1 Functions of Internal Absolute Counter............................................ 4-13
4.8.2 How the Internal Absolute Counter Operates .................................. 4-13
4.8.3 Reading Elapsed Value.................................................................... 4-13
4.8.4 Writing Elapsed Value ...................................................................... 4-14
5 Power ON and OFF, and Items to Check.............................................5-1
5.1 Safety Circuit Design ..........................................................................5-2
5.2 Items to Check Before Turning ON the Power....................................5-3
5.3 Procedure for Turning On the Power ..................................................5-4
5.3.1 Procedure for Turning ON the Power............................................... 5-4
5.3.2 Procedure for Turning OFF the Power............................................. 5-4
5.4 Confirming while the Power is ON ......................................................5-6
5.4.1 Items to Check when the Power is ON ............................................ 5-6
5.4.2 Checking the External Safety Circuit ............................................... 5-6
5.4.3 Checking the Safety Circuit based on Pulse Output Unit................. 5-6
5.4.4 Checking the Operation of the Near Home Switch and Home
Switch ............................................................................................... 5-7
5.4.5 Checking Rotating and Moving Directions and Moving Distance .... 5-8
6 E Point Control: Single-Speed Acceleration / Deceleration..............6-1
6.1 Sample Program.................................................................................6-2
6.1.1 Increment (Relative Value Control) .................................................. 6-2
6.1.2 Absolute (Absolute Value Control) ................................................... 6-4
6.2 Over Limit Input...................................................................................6-7
6.3 Precautions on Programming .............................................................6-8
7 P Point Control: Multi-Stage Acceleration / Deceleration .................7-1
7.1 Sample Program.................................................................................7-2
7.1.1 Increment (Relative Value Control) .................................................. 7-2
7.1.2 Absolute (Absolute Value Control) ................................................... 7-5
7.2 Operation at Over Limit Input..............................................................7-8
7.3 Precautions On Programming.............................................................7-9
8 JOG Operation ......................................................................................8-1
8.1 Sample Program.................................................................................8-2
8.1.1 JOG Operation (Forward and Reverse)........................................... 8-2
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WUME-GM1PG-01
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