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617
Slave Modules
Section 10-2
!Caution
When operating an axis with the pulse output module, make sure to set the
Output Current OFF signal (OW0030 bit13) to “1”. If an axis movement com-
mand bit is turned ON with the Output Current OFF signal (OW0030 bit13) set
to “0”, the alarm [03: Move reference when output current is OFF] will occur.
(This alarm only occurs on the MECHATROLINK module. It does not occur on
the MC Unit.)
JOG operation
• The settings of the parameter No. 02 (JOG speed, JOG Accel/decel time)
for word 1 are changed and JOG operation is performed.
• Controlling the status of the general-purpose I/O area (PORT_A) starts
and stops the JOG operation.
PROG P002 Q00000000; Pulse output module (JOG operation)
WAIT #IB00300 = = 1; -------- Pulse unit ready
#OW0030 = 0; --------------- Output bit reset
;
;*** JOG parameter setting***
#OB00304 = 0;
Parameter No. specification (02)
#OB00305 = 1;
Parameter No. specification (02)
#OB00306 = 0;
Parameter No. specification (02)
#OB00307 = 0;
Parameter No. specification (02)
#OW0032 = 600; ------------- JOG speed data
#OW0033 = 200; ------------- Accel/decel time data
#OB00303 = 1; ----------------- Parameter settings started
WAIT #IB00304 = = 1; ---------- Parameter setting completed
#OW0030 = 0; ---------------- Output bit reset
#OB00304 = 0;
Parameter No. specification (00)
#OB00305 = 0;
Parameter No. specification (00)
#OB00306 = 0;
Parameter No. specification (00)
#OB00307 = 0;
Parameter No. specification (00)
;
;*** JOG start ***
WHILE #IW0B00 = = 1;
#OB0030F = 1;------- Servo ON
#OB0030D = 1;------ Output current OFF signal ON
IF #IW0B01 = = 1; --- External input for JOG operation (General-purpose I/O
area: PORT_A)
#OB00309 = 1; ----------- JOG started
ELSE;
#OB00309 = 0; ---------- JOG stopped
ENDIF;
WEND;
#OB0030F = 0; -------- Servo OFF
#OB0030D = 0; -------- Output current OFF signal OFF
END;
Positioning operation
• The settings of the parameter No. 05 (Positioning speed, Positioning
Accel/decel time) for word 1 are changed and positioning is performed.
• Controlling the status of the general-purpose I/O area (PORT_A) starts
and stops positioning operation.
PROG P002 Q00000000; Pulse output module (Positioning operation)
WAIT #IB00300 = = 1; ------- Pulse unit ready
#OW0030 = 0; --------------- Output bit reset
;
;*** Positioning parameter setting ***
#OB00304 = 1;
Parameter No. specification (05)
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