Mitsubishi Electric MELSEC iQ-R Series, Programming Manual

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22 POSITIONING INSTRUCTIONS
22.2 Starting the Positioning
■
Applicable devices
*1 FX and FY cannot be used.
*2 T, ST, C, and FD cannot be used.
*3 FD cannot be used.
■ Control data
Processing details
• The positioning is started for the specified axes below.
• Block start, origin return start, present value change start, and multiple axes concurrent start are available by specifying one
of 7000 to 7004 or 9001 to 9004 with "Start number" in (s)+2.
• The execution of the RSTRT  instruction and whether it has been completed normally or with an error can be checked with
the completion device (d) or completion status indication device (d)+1.
Operand Bit Word Double word Indirect
specification
Constant Others
(U)
X, Y, M, L,
SM, F, B, SB,
FX, FY J  \  T, ST, C, D,
W, SD, SW,
FD, R, ZR,
RD U  \G  , J  \  ,
U3E  \(H)G 
Z LT, LST,
LC
LZ K, H E $
(U) GP.PSTRT 
           
ZP.PSTRT

           
(s)
  
*3
        
(d)

*1
 
*2
        
Operand: (s)
Device Item Description Setting range Set by
+0 System area
  
+1 Completion status The instruction completion status is stored.
• 0: Completed successfully
• Other than 0: Completed with an error (error code)

System
+2 Start number Specifies the number of the following data that is started with the
PSTRT
 instruction.
• Positioning data number: 1 to 600
• Block start: 7000 to 7004
• Machine OPR: 9001
• Fast OPR: 9002
• Present value change: 9003
• Multiple axes concurrent start: 9004
1 to 600
7000 to 7004
9001 to 9004 User
Instruction symbol Target axis
GP.PSTRT1, ZP.PSTRT1 Axis 1
GP.PSTRT2, ZP.PSTRT2 Axis 2
GP.PSTRT3, ZP.PSTRT3 Axis 3
GP.PSTRT4, ZP.PSTRT4 Axis 4
• Completion device (d)
This device turns on during the END processing of the scan where the PSTRT  instruction completed, and turns off during the next END processing.
• Completion status indication device (d)+1
This device turns on or off depending on the completion status of the PSTRT  instruction.
When completed normally: Unchanged from off.
When completed with an error: Turns on during the END processing of the scan where the PSTRT
 instruction completed, and turns off during the next END
processing (the same on/off operation as the completion device is performed).