64
action was started is reset and positioning is executed according to the data
set for the positioning action. The Unit will not calculate the present position,
and the No-origin flag (bit 11 of IR n+5) will go ON during operation. The di-
rection of pulse output is determined by the direction bit set for the position-
ing action. START is required in order to resume execution of positioning ac-
tions.
(C) Stop
Time
(A) STOP executed
START
Target speed
CHANGE SPEED valid
CHANGE SPEED cannot be executed.
The extended action can be terminated
by executing STOP again.
(B) Present position reset;
No-origin flag OFF.
Note STOP can be executed by either an external input signal or by IR word n, bit
15. For details, refer to
Section 4–10–1.
Delay Time
From position A to position B in the above diagram, there is a delay time of
approximately 2 ms for internal processing (scan time). From position B to
position C, there may be a maximum additional delay time of 2 ms. The delay
time between points A and B does not affect the present position set in words
n+8 and n+9. During the delay time between B and C, the present position in
those words is reset to 0 and then updated. The delay time is also output in
those words.
DM 1022
1
0
0
5
DM 1023
0
0
0
0
DM 1024
0
0
0
1
word 108
0
0
0
3
word 109
0
0
0
1
Example: Positioning Action #0 for Unit #0
Target position: 10000
Completion code: 5
Direction: CW
Speed #1: 10K pps
After STOP, the present position is as follows:
In this example, the present position after operation has stopped is 10003.
Since the target position was 10000, the actual position has exceeded the
target position by 3 pulses. Since the speed was set to 10K pps, 3/10,000 =
0.003 s = 0.3 ms. Thus the delay time is 0.3 ms.
Positioning Actions
