-120-
(9) Timing chart of positioning operation (Remote register method)
(Ex. Absolute value command system (PA01:0001) - Absolute value (RY(n
＋
2)B
：
OFF))
ON
OFF
ON
OFF
Servo-on (RYn0)
Automatic/manual selection
(RYn6)
Speed data (RWwn 6)
ON
Speed data 2
Speed data 1
Position data
(RWwn 4 RWwn 5)
Position data 2
Position data 1
OFF
Position/speed specifying
system selection (RY(n 2)A)
ON
OFF
Incremental value/absolute
value selection (RY(n 2)B)
ON
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Ready (RD)
Trouble (ALM)
In position (RXn1)
Rough match (RXn2)
Servo motor speed
Forward
rotation
0r/min
ON
OFF
3ms or less
Incremental
value data 1
Incremental
value data 2
OFF
Forward rotation start (RYn1)
6ms or more
ON
ON
OFF
ON
OFF
(Note 2)
Position instruction execution
demand (RY(n 2)0)
(Note 2)
Speed instruction execution
demand (RY(n 2)1)
ON
OFF
Position instruction execution
completion (RX(n 2)0)
ON
OFF
Speed instruction execution
completion (RX(n 2)1)
(Note 1)
6ms or more
(Note 1)
Reverse
rotation
Movement completion (RXnC)
Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.
2. For details of the operation timing of RY(n
2)0 and RY(n
2)1, refer to the section “LECSC Operation Manual”,section 3.6.2.
Refer to "LECSC Operation Manual", section 3.6, section 3.7, section 5.4 for details of the positioning
operation program for the remote register method.
ON
Forward rotation stroke
end
(RYn4/LSP)
Reverse rotation stroke
end
(RYn5/LSN)
Forced stop
(EMG)
ON
OFF
ON
OFF
OFF
