616
Slave Modules
Section 10-2
n = Word No. (1 or 2)
Program examples
• When operating the pulse output module from the MC Unit, the operating
conditions have to be set first. After that, start commands can be sent.
(When starting operations consecutively under the same operating condi-
tions, sending a start command can start operations if the operating con-
ditions have been already set.)
• This following shows the program examples required for JOG operations
and positioning operations.
03
OFF
OFF
ON
ON
In zero point return
• Zero point return speed
• Zero point return Accel/
decel time
Zero point return speed:
1 to 50000 (10 pps)
Zero point return Accel/
decel time:
50 to 5000 (100 ms)
Speed:
500
Time:
100
04
OFF
ON
OFF
OFF
In zero point return
• Approach speed
• Creep speed
Approach speed:
1 to 50000 (10 pps)
Creep speed:
1 to 50000 (10 pps)
Approach:
100
Creep:
50
05
OFF
ON
OFF
ON
In positioning
• Positioning speed
• Positioning Accel/decel
time
Positioning speed:
1 to 50000 (10 pps)
Positioning Accel/decel
time:
50 to 5000 (100 ms)
Speed
500
Time
100
06
OFF
ON
ON
OFF
Reserved for system
07
OFF
ON
ON
ON
Reserved for system
08
ON
OFF
OFF
OFF
Acceleration/deceleration
mode
0: Single-stage symmetric
1: Two-stage symmetric
2: Single-stage asymmet-
ric
0
09
ON
OFF
OFF
ON
In two-stage acceleration/
deceleration
• Switching speed
• Second-stage Accel/
decel time
Switching speed:
1 to 50000 (10 pps)
Second-stage Accel/
decel time:
50 to 5000 (100ms)
Speed
250
Time:
100
10
ON
OFF
ON
OFF
In asymmetrical accel/
decel operation
• Acceleration time
• Deceleration time
Acceleration time:
50 to 5000 (100 ms)
Deceleration time:
50 to 5000 (100 ms)
Accel:
100
Decel:
100
11
ON
OFF
ON
ON
Asymmetrical Accel/decel
bias speed
Note
Set smaller value
than the position-
ing speed.
Bias speed:
1 to 50000 (10 pps)
Speed
0
12
ON
ON
OFF
OFF
Current position setting
Current position:
−
2147483647 to
2147483647 (pulse)
Current
position:
0
13
ON
ON
OFF
ON
Reserved for system
14
ON
ON
ON
OFF
Reserved for system
15
ON
ON
ON
ON
Reserved for system
Parameter
No.
Parameter No. setting
Name
Setting range (units)
Initial
setting
PRMn3
PRMn2
PRMn1
PRMn0
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