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Chapter 10 High-Level Positioning Control
10.6.2 Example of a start program for high-level positioning control
The following shows an example of a start program for high-level positioning control in
which the 1st point "block start data" of axis 1 is started. (The block No. is regarded as
"7000".)
Control data that require setting
The following control data must be set to execute high-level positioning control.
The setting is carried out using a sequence program.
Setting item
Setting
value
Setting details
Buffer memory address
QD77MS2
QD77MS4
QD77MS16
[Cd.3] Positioning start No. 7000
Set "7000" to indicate control using "block
start data".
1500+100n 4300+100n
[Cd.4]
Positioning starting
point No.
1
Set the point No. of the "block start data" to
be started.
1501+100n 4301+100n
n: Axis No.-1
(Note): Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Signal name Signal state
Device
QD77MS2
QD77MS4
QD77MS16
Interface
signal
PLC READY signal ON PLC CPU preparation completed Y0
READY signal ON QD77MS preparation completed X0
All axis servo ON ON All axis servo ON Y1
Synchronization flag ON
QD77MS buffer memory
The access is possible.
X1
Axis stop signal OFF Axis stop signal is OFF Y4 to Y7 [Cd.180] Axis stop
Start complete signal OFF Start complete signal is OFF X10 to X13 [Md.31] Status: b14
BUSY signal OFF BUSY signal is OFF XC to XF X10 to X1F
Error detection signal OFF There is no error X8 to XB [Md.31] Status: b13
M code ON signal OFF M code ON signal is OFF X4 to X7 [Md.31] Status: b12
External
signal
Forced stop input signal ON There is no forced stop input –
Stop signal OFF Stop signal is OFF –
Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –