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tioning action. For sequential transfers, the rightmost BCD digit in the ad-
dress field of the first positioning action can be changed from 4, which states
that four additional words follow the address as a positioning action, to 9. In
this case you can set the total number of addresses involved in sequential
transfer in the word that follows. Consequently, all address-field words except
for the first become unnecessary. The maximum number of addresses for
sequential transfer is 31.
The positioning actions (which consist of 5 words each) are written to DM
words k to k+39 for the X axis and k+50 to k+87 for the Y axis. Review the
Positioning Action DM Area table in
8-1 Data Word Allocations
. Each posi-
tioning action has fields for the address, position, speed, M code, dwell time,
acceleration and deceleration time, and attributes. Refer to
3-4 Setting Posi-
tioning Actions
for further details.
X Axis
Address
Position
(pulses)
Speed
M
code
Dwell
time
Acceleration
and Decelera-
tion time
Attribute
1
Attribute
2
Remarks
100
10,000
02
10
1
5
0
4
Point A
101
–
–
–
–
–
–
–
Empty address
102
0
01
30
1
5
4
4
Origin
103
10,000
02
00
0
0
C
6
Point C, arc center
104
10,000
02
30
1
5
4
4
Interpolation end point
105
0
02
00
0
0
8
5
Point D, arc intermediate
106
10,000
02
00
1
5
4
5
Point C
107
10,000
02
00
0
0
8
4
Point A
108
0
02
30
1
5
4
4
Origin
Y Axis
Address
Position
(pulses)
Speed
M
code
Dwell
time
Acceleration
and Decelera-
tion time
Attribute
1
Attribute
2
Remarks
500
5,000
03
20
1
0
0
5
Point B
501
10,000
01
21
1
1
0
4
Point C
502
0
02
30
1
1
4
4
Origin (interpolation end
point )
503
10,000
02
00
0
0
C
6
Point C, arc center
504
10,000
02
30
1
5
4
4
Interpolation end point
505
10,000
02
00
0
0
8
5
Point D, arc intermediate
506
10,000
02
00
1
5
4
5
Point C
507
0
02
00
0
0
8
4
Point A
508
0
02
30
1
5
4
4
Origin
DM Area Settings
Data Transmission Program
Section 8-2