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Chapter 6 Sequence Program Used for Positioning Control
Device
name
Device
Application Details when ON
Axis 1 Axis 2 Axis 3 Axis 4
Internal relay
M34
—
ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed
M35
ZP.TEACH1 instruction error complete
device
ZP.TEACH1 instruction error
completed
M36 ZP.PINIT instruction complete device ZP.PINIT instruction completed
M37
ZP.PINIT instruction error complete
device
ZP.PINIT instruction error completed
M38 ZP.PFWRT instruction complete device ZP.PFWRT instruction completed
M39
ZP.PFWRT instruction error complete
device
ZP.PFWRT instruction error
completed
M40 Override initialization value command Override initialization value
M50 Parameter setting complete device Parameter setting completed
(2) Data resisters and timers
Device
name
Device
Application Details of storage
Axis 1 Axis 2 Axis 3 Axis 4
Data register
D0
—
OPR request flag [Md.31] Status: b3
D1 Speed (low-order 16 bits)
[Cd.25] Position-speed switching
control speed change
register
D2 Speed (high-order 16 bits)
D3 Movement amount (low-order 16 bits)
[Cd.23] Speed-position switching
control movement amount
change register
D4 Movement amount (high-order 16 bits)
D5 Inching movement amount [Cd.16] Inching movement amount
D6 JOG operation speed (low-order 16 bits)
[Cd.17] JOG speed
D7
JOG operation speed (high-order 16
bits)
D8
Manual pulse generator 1 pulse input
magnification (low-order)
[Cd.20] Manual pulse generator 1
pulse input magnification
D9
Manual pulse generator 1 pulse input
magnification (high-order)
D10
Manual pulse generator operation
enable
[Cd.21] Manual pulse generator
enable flag
D11 Speed change value (low-order 16 bits)
[Cd.14] New speed value
D12 Speed change value (high-order 16 bits)
D13 Speed change request [Cd.15] Speed change request
D14 Override value
[Cd.13] Positioning operation speed
override