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8-4
Section
Positioning Sequences
178
8-3-3 Operating Memory Area
Item
Model
Operating memory area
Bits
Contents
X axis Y axis Z axis U axis
START
NC413
n
n+2
n+4
n+6
01
: Start begins
INDEPENDENT
START
NC213
NC113
n
n
n+2
02
: Independent start begins
Sequence Number
Enable
NC113
n
00
1: Enable, 0: disable
Waiting For
Memory Operation
NC413
NC213
n+8
n+4
n+11
n+7
n+14
n+17
04
1: Waiting for memory operation
0: Other than above
Positioning
Completed Flag
NC113
n+2
05
: Positioning operation completed
: When starting
Busy Flag
13
1: Busy (See note)
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
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
hexadecimal.
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
positioning sequence is output in
hexadecimal.
Note
1. When positioning is executed with positions designated as absolute, a pres-
ent 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 opera-
tion, 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 opera-
tion 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 number
of the sequence that is started. For example, if START is executed with
sequence #50 designated, positioning will be carried out using the position data
set for position #50. This positioning sequence can be used again with only the
position changed, and with the other data settings left unchanged.
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