Mitsubishi Electric MELSEC-L LD75D, User Manual

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CHAPTER 14 DEDICATED INSTRUCTIONS
14
14.
4
Z
P
.PST
RT
1,
Z
P
.P
S
T
R
T
2,
Z
P
.P
S
T
RT
3,
Z
P
.P
ST
RT
4
(4) Errors
(a) When an 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 measures against the error referring to  Page 650, Section 15.5.
(5) Precautions
(a) When positioning is started by the ZP.PSTRT  instruction, the positioning start
signals (Y10 to Y13) will not turn ON. Therefore, the start complete signal (X10 to
X13) cannot be used for confirming completion of start of positioning. To confirm
that positioning control is being executed, use the ZP.PSTRT
 start command or
BUSY signals (XC to XF).
(b) If, after positioning has been started by the ZP.PSTRT  instruction, a stop
command is input before positioning is complete, the complete device (D) turns ON
one scan and the execution of the ZP.PSTRT
 instruction is completed.
(c) The following dedicated instructions cannot be executed simultaneously for the
same axis. (Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(d) The ZP.PSTRT  instruction can only be executed when the LD75 READY signal (X0)
is turned ON. Even if the ZP.PSTRT  instruction execution request is given when
the LD75 READY signal 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 LD75
READY signal (X0).
(e) If the ZP.PSTRT  instruction is executed in the following case, an error "Dedicated
instruction error" (error code: 804) will occur and positioning cannot be started.
• Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number" (device: (S)+2) of
the control data.
• The instruction for a non-existent axis is specified. (Example: The ZP.PSTRT2 instruction is specified when
the LD75P1 is used.)
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When completed
normally
Program
Complete device
ZP.PSTRT instruction
Complete state display
device
END processing END processing END processing END processing
ZP.PSTRT instruction
execution completion
1 scan