Download OPERATION MANUAL Position Control Units - Support

Section 11-2
Basic Program Examples
These Work Area bits are used to show the progress of function execution
and the execution status.
Holding Area (HR Area)
H1.00
This bit is used as a switch to indicate whether positioning is performed with
ABSOLUTE MOVEMENT or RELATIVE MOVEMENT.
Timer Area
TIM0003
Used as a watchdog timer to monitor the positioning operation.
This sample program starts Axis 1 positioning when the Positioning execution
condition goes ON.
The position command value must be set to the target position and the speed
command value must be set to the target speed in the Axis Operating Output
Memory Area before executing this sample program.
At this point, the ON/OFF status of HR1.00 determines whether the positioning is executed with RELATIVE MOVEMENT (HR1.00 OFF) or ABSOLUTE
MOVEMENT (HR1.00 ON).
If axis 1 positioning is not completed within 10 seconds after completion of
sending the positioning command, i.e., after pulse distribution is completed, a
Positioning Timeout will occur and bit W201.03 will be turned ON for one
cycle.
The target position can be changed during an Absolute Movement or Relative
Movement positioning operation by setting a new position command value
and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit. Torque limits
can also be enabled/disabled during positioning by turning ON/OFF the forward and reverse rotation current limit bits in the Axis Operating Output Memory Area and turning ON the ABSOLUTE or RELATIVE MOVEMENT Bit.
This sample program allows the target position to be changed during an operation by turning the execution condition OFF and then ON again.
A Multistart Error will occur if a Movement command is sent while the PCU's
Receiving Command Flag is already ON, so the Receiving Command Flag is
ANDed with the Positioning execution condition (in the W201.00 output circuit). An OR circuit containing the ABSOLUTE MOVEMENT Bit and RELATIVE MOVEMENT Bit has been added so that the W201.00 is not output
again when the Receiving Command Flag goes from ON to OFF.
The target speed can be changed sequentially during operation by overwriting
the speed command value in the Axis Operating Output Memory Area.
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