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15- 5
Chapter 15 Dedicated Instructions
When completed
normally
END
processing
END
processing
END
processing
Complete device
Complete state display
device
BUSY signal
Positioning complete
V
Sequence program
ZP.PSTRT instruction
OFF
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
END
processing
ZP.PSTRT instruction
execution completion
1 scan
When
completed
abnormally
t
Dwell time
Positioning
[Errors]
(1) When a ZP.PSTRT instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
((S)+1).
Check and take a measure against the error referring to Section 16.4 "List of
errors".
[Precautions]
(1) If the positioning is started by the ZP.PSTRT instruction, the start complete
signals turn ON. However, since the ON time is short, the ON status may not to be
detected in the program.
Confirm the operation during the positioning control using the ZP.PSTRT
start
instruction and BUSY signals.
(2) If the stop instruction is input before completion of the positioning which has been
started by the ZP.PSTRT
instruction, the completion device (D) turns the 1-scan
ON to complete execution of the ZP.PSTRT
instruction.
(3) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(The instructions can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(4) The ZP.PSTRT
instruction can only be executed when the READY signal [X0] is
turned ON.
Even if the ZP.PSTRT
instruction execution request is given when the READY
signal [X0] is turned OFF, the ZP.PSTRT
instruction will not be executed. (Not
processed.)
Before executing the ZP.PSTRT
instruction, turn ON the PLC READY signal
[Y0], and turn ON the READY signal [X0].