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Chapter 6 Sequence Program Used for Positioning Control
6.2 List of devices used
In the sequence programs using QD77MS4 shown in this chapter and subsequent, the
application of the devices used are as follows.
The I/O numbers for Simple Motion module indicate those when the head I/O number
is set to "0H".
If it is set to other than "0H", change the I/O number according to setting of head I/O
number.
In addition, change the external inputs, external outputs, internal relays, data resisters,
and timers according to the system used.
(1) Inputs/outputs, external inputs/external outputs, and internal relays
of QD77MS4
Device name
Device
Application Details when ON
Axis 1 Axis 2 Axis 3 Axis 4
Inputs/
outputs
of
QD77MS4
Input
X0 READY signal QD77MS preparation completed
X1 Synchronization flag QD77MS buffer memory accessible
X4 X5 X6 X7 M code ON signal M code outputting
X8 X9 XA XB Error detection signal Error detected
XC XD XE XF BUSY signal BUSY (operating)
X10 X11 X12 X13 Start complete signal Start completed
X14 X15 X16 X17 Positioning complete signal Positioning completed
Out-
put
Y0 PLC READY signal PLC CPU preparation completed
Y1 All axis servo ON signal All axis servo ON signal
Y4 Y5 Y6 Y7 Axis stop signal Requesting stop
Y8 YA YC YE Forward run JOG start signal Starting forward run JOG
Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG
Y10 Y11 Y12 Y13 Positioning start signal Requesting start
Y14 Y15 Y16 Y17 Execution prohibition request Execution prohibition
External input
(command)
X20
—
OPR request OFF command Commanding OPR request OFF
X21 External command valid command
Commanding external command valid
setting
X22 External command invalid command
Commanding external command
invalid
X23 Machine OPR command Commanding machine OPR
X24 Fast OPR command Commanding fast OPR
X25 Positioning start command Commanding positioning start
X26
Speed-position switching operation
command
Commanding speed-position switching
operation
X27
Speed-position switching enable
command
Commanding speed-position switching
enable
X28
Speed-position switching prohibit
command
Commanding speed-position switching
prohibit
X29
Movement amount change
command
Commanding movement amount
change
X2A
High-level positioning control start
command
Commanding high-level positioning
control start
X2B
Positioning start command
(dedicated instruction)
Commanding positioning start