431
S1
S2
D1
D2
S2
S2 S2
is for to assign the creep speed when the DOG near point is triggered.
The available range is from the bias speed (D9342) to the equivalent speed of 30 kHz.
When < the bias speed, it will be regarded as the bias speed; when > the equivalent speed of 30 kHz,
it will be regarded as the equivalent speed of 30 kHz.
is for to assign the output point of generated pulse string.
It can only appoint to a point between Y0~Y3, and must use a transistor or line driver output Main Unit.
is for to assign the output point of direction control signal.
When the output of direction control signal is “ON”, the motor moves forward; conversely, “OFF” moves
reverse.
Besides, the “ON”/“OFF” status of the direction control signal is related to both the parameters of the rotational
direction (increase present value when forward / backward) and the return direction (by the direction of present
value increasing / decreasing).
When the M0 turns from “OFF” to “ON”, this ZRN instruction uses the parameters of the bias speed (D9342), the
maximum speed (D9341, D9340), the acceleration time (D9343), the deceleration time (D9344), the home
positioning speed, the home positioning creep speed, the speed multiple ratio (D9348) and the setup about
home positioning to decide the home positioning procedures. During this instruction is in operation, to change any
parameter above will be regarded as invalid. Which is different from other positioning instructions and should pay
attention to this.
When the return action is completed, that will let the zero home positioning has been completed ag M9344 = “ON”.
If the condition contact M0 turns “OFF” before it is nished, the movement will be gradually slow down then stop.
The example below uses Y0 output axis for the description of this instruction since the output axes Y1~Y3 have the
same function. The three devices between parentheses ( ) indicate those are corresponding to Y1~Y3 respectively.
M9340 indicates the Y0 is occupied by a positioning instruction. (M9360, M9380, M9400)
Any instruction uses the Y0 to generate pulse string and it is already activated, that will occupy the resource of Y0
axis consistently. However, turn the condition contact of this activated instruction “OFF” could release the resource.
Thus, before to activate this instruction should conrm the state of M9340.
If the M9340 = “ON”, that indicates the Y0 is BUSY to generate pulse string or other instruction still occupies the
resource of the Y0. Even though, the condition contact of this instruction is “ON”, the instruction will not execute.
If the M9340 = “OFF”, that indicates the Y0 is in the READY status (its resource is free to use), the Y0 can be used
for this instruction.
M9341 is the pulse output monitor of the Y0. (M9361, M9381, M9401)
When the Y0 is generating pulses, M9341 = “ON”.
M9342 is the positioning completed ag of the Y0. (M9362, M9382, M9402)
When the Y0's positioning instruction is completed, M9342 = “ON”.
Turn “OFF” the condition contact of the completed instruction will lead the ag M9342 “OFF”.
M9343 is the positioning abnormal stop ag of the Y0. (M9363, M9383, M9403)
Trigger any related compulsive stop ag during the unnished positioning or the ZRN instruction could not nd the
DOG signal, that will cause Y0 stops to generate pulses and let the M9343 = “ON” to indicate this stop is abnormal.
Turn “OFF” the condition contact of the activated instruction will lead the ag M9343 “OFF”.
M9344 is the home positioning completed ag of the Y0. (M9364, M9384, M9404)
When the Y0's ZRN instruction has completed, M9344 = “ON”.
When the ZRN instruction is operated again, the M9344 will be reset to “OFF”.
M9345 is the ag to stop the Y0 generating pulse string (by gradually slow down). (M9365, M9385, M9405)
When the M9345 is turned “ON”, the pulse generating at the Y0 will gradually slow down then stop.
After the stop signal is discontinued, to make it move must release the positioning instruction then restart.
M9346 is the ag to imminently stop the Y0 generating pulse string. (M9366, M9386, M9406)
When the M9346 is turned “ON”, the pulse generating at the Y0 will stop imminently (without to slow down).
After the stop signal is discontinued, to make it move must release the positioning instruction then restart.
Forward / Reverse limit switch (under the “Positioning Parameter Setup” of the Ladder Master S).
When the forward / reverse limit switch is active, that limits all the forward / reverse actions. That makes the forward
/ reverse motor to slow down and stop.
At this moment, only the moving request of opposite direction can be accepted.
D9348 is the multiple ratio of the Y0 positioning speed. (D9368, D9388, D9408)
The actual operating speed at Y0 positioning is equal to the operating speed designated by the positioning
instruction multiplied by the value of the multiple ratio.
Before the ZRN instruction operates, the actual operating speed at Y0 positioning can be modied by changing the
ratio. But, to change the ratio could not modify the actual operating speed during the ZRN instruction is operating.
Its available value range to be set is 1~30,000 (Unit: 0.1%), therefore the speed multiple ratio is 0.1%~3,000.0%.
D9351, D9350 display the positioning current speed of Y0. (DD9370, DD9390, DD9410)
When the instruction is active, this 32-bit special register shows the present value of operating speed (by user unit).
D9355, D9354 display the positioning location (present value PV) of Y0. (DD9374, DD9394, DD9414) (by user unit)
When the power is turned from “OFF” to “ON”, the initial value of this 32-bit special register is 0. Afterward, to
operate any related positioning control instruction will affect to its content, it shows the location of Y0 (by user unit).
When this ZRN instruction is operated and completed, the preset value of the home point will be lled in.
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