3.1 Basic Functionality
Programs
3-12
• Control Signals
To control the execution of a motion program, you must input program control signals (Request for Start
of Program Operation, or Request for Stop of Program, etc.). The following table describes the control sig-
nals for motion programs.
: This mark indicates that the signal must be kept ON until the system acknowledges it.
: This mark indicates that the signal needs to be turned ON only for one high-speed scan.
Bit No. Name Description
Bit 0
Request for Start
of Program Oper-
ation
This bit makes a request to start execution of a motion program. The motion pro-
gram starts when this bit changes from 0 to 1. This bit is ignored when there is a
motion program alarm.
0: Turn OFF the request to start the program.
1: Turn ON the request to start the program.
Bit 1
Request for Pause
of Program
This bit makes a request to pause execution of a motion program.
Execution of the program that was paused will resume when the pause request is
turned OFF.
0: Turn OFF the request to pause the program (i.e., cancel the pause).
1: Turn ON the request to pause the program.
Bit 2
Request for Stop
of Program
This bit makes a request to stop execution of a motion program.
A motion program alarm occurs if this bit is set to 1 while the axis is in motion.
0: Turn OFF the request to stop the program.
1: Turn ON the request to stop the program.
Bit 3
Program Single-
block Mode
Selection
This bit makes a request to select Program Single-block Execution Mode.
This mode can be used in place of Debug Operation Mode.
0: Turn OFF the request to select single-block mode.
1: Turn ON the request to select single-block mode.
Bit 4
Program Single-
block Start
Request
When this bit is changed from 0 to 1, program execution changes to single-block
execution (step execution). This bit is valid only when bit 3 (Program Single-block
Mode Selection) in the control signals is set to 1.
0: Turn OFF the request to start the program in single-block mode.
1: Turn ON the request to start the program in single-block mode.
Bit 5
Program Reset
and Alarm Reset
Request
This bit resets motion programs and alarms.
0: Turn OFF the request to reset the program and alarms.
1: Turn ON the request to reset the program and alarms.
Bit 6
Request for Start
of Continuous
Program Opera-
tion
This bit makes a request to resume execution of a program that was stopped by a
Request for Stop of Program.
0: Turn OFF the request to resume the program.
1: Turn ON the request to resume the program.
Bit 7
Reserved for sys-
tem.
−
Bit 8
Skip 1 Informa-
tion
If this bit changes to 1 while an axis is in motion due to a SKP instruction (when the
skip input signal selection is set to SS1), the axis will decelerate to a stop, and the
reference in the remaining travel distance will be canceled.
0: Turn OFF the skip 1 signal.
1: Turn ON the skip 1 signal.
Bit 9
Skip 2 Informa-
tion
If this bit changes to 1 while an axis is in motion due to a SKP instruction (when the
skip input signal selection is set to SS2), the axis will decelerate to a stop, and the
reference in the remaining travel distance will be canceled.
0: Turn OFF the skip 2 signal.
1: Turn ON the skip 2 signal.
Bit A, B
Reserved for sys-
tem.
−
Bit C
Reserved for sys-
tem.
−
Continued on next page.
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