108
1
0
1
0
1
0
Time
START
IR n, bit 00
Positioning Completed flag
IR n+5, bit 00
Busy flag
IR n+5, bit 12
START
Target speed #5
Target speed #8
Target position for action #0
#0
Stop (at target position
for action #1)
#1
The next diagram illustrates the case where STOP is executed before posi-
tioning is finished. In this example, START has initiated a sequence of two
positioning actions, the first “continuous” and the second “single”. If STOP
was not executed, positioning would reach the target speed (speed #5) for
action #0, decelerate to the target speed (speed #8) for action #1, and finally
stop at the target position for action #1.
When STOP is executed during positioning action #0, however, positioning
immediately decelerates to a stop. The STOP Executed flag turns ON and
the Busy flag turns OFF (allowing manual operation). The Positioning Com-
pleted flag, however, remains OFF until both action #0 and action #1 have
been fully implemented. The positioning action number remains the same,
and the target speed and target position for that action are used the next time
START is executed (as long as the target position has not already been ex-
ceeded).
Example 2
External Interrupt Commands
