YOKOGAWA F3YP14-0N, User Manual

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7-21
IM 34M6H55-02E 1st Edition : Apr 1, 2002-00
7.1.8 Positioning Operation
This command executes a positioning operation towards a preset target position.
z z z z
Conditions for Command Execution:
- The axis is not in an error state.
- The axis is in the End-of-Positioning status.
- No other command is being executed.
z z z z
Note:
- If any of the conditions is not satisfied, the command is ignored and the Command
Execution ACK relay is not set. If the command is issued when the axis is in an
error state or not in the End-of-Positioning status, an alarm code is set in the alarm
status. The alarm code is automatically cleared when the Execute Command
output relay is reset. For details on alarm codes, see Section 8.3, “Alarm Codes.”
- If an invalid value is set for a parameter, a parameter error results and the axis does
not move.
z
z z
z
Procedure:
1 ． Write the required parameters and command code to the positioning module using
the WRITE instruction or any other appropriate instruction (set the command code
to 0).
2 ． Set the Execute Command output relay.
3 ． The Execute Command ACK will be set and the axis starts positioning. Reset the
Execute Command output relay after confirming that the Execute Command ACK
input relay is set. If there is an entry parameter error, the Error Notification input
relay will be set, but the Execute Command ACK input relay will not be set.
4 ． The End of Positioning input relay is set when the output pulse count reaches the
target position. In general, when using servomotors, take note that there is some
time lag between the stopping of the pulse output and the stopping of the axis after
reaching the target position.
z
z z
z
Sample Program
This is a sample program for a positioning operation. All required parameters are preset
in the data registers.
Major devices used
D00641 Command code
D00642 Target position mode
D00643/D00644 Target position
D00645 Acceleration/deceleration mode
D00646/D00647 Target speed
D00648 Acceleration time
D00649 Deceleration time
D00650/D00651 Startup speed
D00689 Alarm code storage device
Y00433 Execute Command output relay
X00401 Execute Command ACK input relay
X00417 Error Notification input relay
X00425 End of Positioning input relay
I00099 Command execution prohibit condition (to be set elsewhere)
I00151 Request to start positioning
I00152 Request to start positioning (rising edge)
I00153 Waiting for Execute Command ACK
I00154 Executing positioning operation