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Chapter 5 Data Used for Positioning Control
Storage item Storage details
[Md.31] Status
This area stores the states (ON/OFF) of various flags.
Information on the following flags is stored.
In speed control flag
This signal that comes ON under the speed control can be used to judge whether the operation is performed
under the speed control or position control. The signal goes OFF when the power is switched ON, under the
position control, and during JOG operation or manual pulse generator operation. During the speed-position
or position-speed switching control, this signal comes ON only when the speed control is in effect. During the
speed-position switching control, this signal goes OFF when the speed-position switching signal executes a
switching over from speed control to position control. During the position-speed switching control, this signal
comes ON when the position-speed switching signal executes a switching over from position control to
speed control.
Speed-position switching latch flag
This signal is used during the speed-position switching control for interlocking the movement amount change
function. During the speed-position switching control, this signal comes ON when position control takes over.
This signal goes OFF when the next positioning data is processed, and during JOG operation or manual
pulse generator operation.
Command in-position flag
This signal is ON when the remaining distance is equal to or less than the command in-position range (set by
a detailed parameter). This signal remains OFF with data that specify the continuous path control (P11) as
the operation pattern. The state of this signal is monitored every operation cycle except when the monitoring
is canceled under the speed control or while the speed control is in effect during the speed-position or
position-speed switching control. While operations are performed with interpolation, this signal comes ON
only in respect of the starting axis. (This signal goes OFF in respect of all axes upon starting.)
OPR request flag
This signal comes ON when the power is switched ON, when the absolute system has not been set, when
the machine OPR has not been executed at the absolute position system, when a machine OPR operation
starts. This signal goes OFF when a machine OPR operation completes. (For details of OPR request flag,
refer to the remark of Section 8.1.1.)
OPR complete flag
This signal comes ON when a machine OPR operation completes normally. This signal goes OFF when the
operation start.
Position-speed switching latch flag
This signal is used during the position-speed switching control for interlocking the command speed change
function. During the position-speed switching control, this signal comes ON when speed control takes over.
This signal goes OFF when the next positioning data is processed, and during JOG operation or manual
pulse generator operation.
Axis warning detection flag
This signal comes On when an axis warning is reported and goes OFF when the axis error reset signal
comes ON.
Speed change 0 flag
This signal comes ON when a speed change request that specifies 0 as the new speed value is issued.
This signal comes ON when a speed change request that specifies a new speed value other than 0 is
issued.
M code ON
QD77MS16
In the WITH mode, this signal turns ON when the positioning data operation is started. In the AFTER mode,
this signal turns ON when the positioning data operation is completed. This signal turns OFF with the "[Cd.7]
M code OFF request". When M code is not designated (when "[Da.10] M code/Condition data No./Number
of LOOP to LEND repetitions" is "0"), this signal will remain OFF.
With using continuous path control for the positioning operation, the positioning will continue even when this
signal does not turn OFF. However, the warning "M code ON signal ON" (warning code: 503) will occur.
When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF.
If operation is started while the M code is ON, the error "M code ON signal start" (error code: 536) will occur.
Error detection
QD77MS16
This signal turns ON when an error listed in Section 16.3 occurs, and turns OFF when the error is reset on
"[Cd.5] Axis error reset".
Start complete
QD77MS16
This signal turns ON when the positioning start signal turns ON and the Simple Motion module starts the
positioning process. (The start complete signal also turns ON during OPR control.)
Positioning complete
QD77MS16
This signal turns ON for the time set in "[Pr.40] Positioning complete signal output time" from the instant
when the positioning control for each positioning data No. is completed.
For the interpolation control, the positioning complete signal of interpolation axis turns ON during the time set
to the reference axis.
(It does not turn ON when "[Pr.40] Positioning complete signal output time" is "0".)
If positioning (including OPR), JOG/Inching operation, or manual pulse generator operation is started while
this signal is ON, the signal will turn OFF.
This signal will not turn ON when speed control or positioning is canceled midway.
Refresh cycle: Immediate