155
Appendix D
IR Area Allocations
Function (
^
: leading edge;
v
: trailing edge)
Outputs
(n = 10 x
unit no.)
Word
Bit
n
n+1
n+2
n+3
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
07 to 00
15 to 08
05 to 00
06
07
14 to 08
15
15 to 00
START: At the leading edge (
^
) of this bit, the Position Control Unit references
bits 01 and 07 of IR n and begins positioning.
Valid initial positioning no.: When set to 1, the initial positioning no. set in bits 07
to 00 of IR n+1 is valid. When set to 0, the initial positioning no. set in bits 07 to
00 of DM word m is valid.
ORIGIN SEARCH: (
^
) Searches for origin proximity signals and origin signals,
and determines the origin.
ORIGIN RETURN: (
^
) Returns to the origin (as long as the origin has already
been determined).
RELEASE PROHIBIT: (
^
)
READ ERROR: (
^
)
CHANGE SPEED: (
^
) if DIP switch pin no. 6 is ON. If pin no. 6 is OFF, then
this bit executes CHANGE SPEED when set to 1 and STOP when set to 0.
Valid speed coefficient: When set to 1, the speed coefficient set in bits 05 to 00 of
IR n+2 is valid. When set to 0, the speed coefficient of the target speed is set at
1.0.
RESET ORIGIN: (
^
)
TEACH: (
^
) References bits 15 to 08 of IR n+1 and registers the present posi-
tion.
TRANSFER DATA: (
^
) References IR n+2 to n+4 and begins the transfer of
data.
HIGH-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of
IR n.
INCH/JOG direction: (0: CW, 1: CCW)
LOW-SPEED JOG: (0: stops, 1: operates) in the direction indicated by bit 12 of
IR n.
INCH: (
^
) Outputs one pulse.
STOP: (
^
) Positioning cannot be restarted while this bit is set to 1.
Initial positioning action number: 00 to 19 (BCD)
TEACH positioning action number: 00 to 19 (BCD)
Speed coefficient: 00 to 20 (BCD) in units of x 0.1
Speed numbers for CHANGE SPEED: 00 to 15 (00: current 1)
Deviation counter reset (A6-B6) ON/OFF bit (1: ON)
Origin adjustment (A7-B7) ON/OFF bit (1: ON)
Beginning transfer number: 00 to 25 (BCD)
When set to 1, presets the present position during DATA TRANSFER.
Beginning word number for DATA TRANSFER (4 digits BCD)
