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200
Positioning Sequences
Section 8-4
8-3-3
Operating Memory Area
Note
The Busy Flag will turn ON at the following times during memory operation:
• During pulse output
• While waiting for the dwell time to elapse
• While waiting for positioning completed status to be confirmed
• During linear interpolation
8-3-4
Operating Data Area
Note
1.
When positioning is executed with positions designated as absolute, a
present position unknown error (error code 5040) will be generated if the
origin has not been established.
2.
If the software limit function set with the axis parameters is disabled (CW
limit equal to or less than CCW limit), and if the designation is made while
the origin is established (No Origin Flag OFF), positioning will be carried
out by a relative amount, even with absolute position data. (At the start of
operation, present position is set to “0.”)
8-4
Positioning Sequences
This section explains in detail the format and settings of positioning
sequences. Positioning sequences are designated from the CPU Unit when
memory operation is started, and they set data required for positioning, such
as the target speed number, acceleration/deceleration number, and so on.
Note
With previous PCUs, data such as the target speed, acceleration/deceleration
time, and so on, was set for “positioning actions,” which were the basic unit of
positioning. With this PCU, however, position data is set independently. These
PCUs are designed so that the position number used is the same as the num-
ber of the sequence that is started. For example, if START is executed with
Item
Model
Operating memory area
Bits
Contents
X axis
Y axis
Z axis
U axis
START
NC413
NC213
NC113
n
n
n
n+2
n+2
n+4
n+6
01
INDEPENDENT
START
02
Sequence Number
Enable
00
1: Enable, 0: disable
Waiting For Memory
Operation
NC413
NC213
NC113
n+8
n+4
n+2
n+11
n+7
n+14
n+17
04
1: Waiting for memory operation
0: Other than above
Positioning Com-
pleted Flag
05
Busy Flag
13
1: Busy (See note)
: Start begins
: Independent start begins
: Positioning operation completed
: When starting
Item
Model
Operating memory area
Bits
Contents
X axis
Y axis
Z axis
U axis
Sequence number
NC413
NC213
NC113
I+16
I+16
I+16
I+28
I+28
I+40
I+52
00 to
15
Specifies the sequence number in hexadec-
imal.
Output code
NC413
NC213
NC113
I+59
I+35
I+23
I+63
I+39
I+67
I+71
00 to
15
The output code (0 to F) set in the position-
ing sequence is output in hexadecimal.
Summary of Contents for CS1W-213 - REV 02-2008
Page 2: ...CS1W NC113 213 413 133 233 433 Position Control Units Operation Manual Revised February 2008 ...
Page 3: ...iv ...
Page 13: ...xiv ...
Page 15: ...xvi ...
Page 19: ...xx ...
Page 43: ...18 Basic Operational Flow Section 2 1 ...
Page 87: ...62 Servo Relay Unit Section 3 7 ...
Page 199: ...174 Z phase Margin Section 6 8 ...
Page 217: ...192 Sample Program Section 7 7 ...
Page 285: ...260 Easy Backup Function Ver 2 0 or later Section 9 11 ...
Page 377: ...352 Common Parameter Area Appendix C ...