Mitsubishi Electric MELSECQ Series User Manual page 139

7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Positioning control
Positioning start signal
[Y8 to YF]
Start complete signal
[X10 to X17]
BUSY signal
[X8 to XF]
Positioning complete signal
[X18 to X1F]
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Operation when starting
(1) When the positioning start signal turns ON, the start complete signal and BUSY
signal turn ON, and the OPR control or positioning control starts.
It can be seen that the axis is operating when the BUSY signal is ON.
(2) When the positioning start signal turns OFF, the start complete signal also turns
OFF.
If the positioning start signal is ON even after OPR control positioning control is
completed, the start complete signal will remain ON.
(3) If the positioning start signal turns ON again while the BUSY signal is ON, the
warning "operating start (warning code: 10)" will occur.
(4) The process taken when positioning control is completed will differ according to
case (a) and (b) below.
(a) When next positioning control is not to be carried out
• After the preset time of the dwell time has elapsed, positioning control is
completed.
• On completion of positioning control, the BUSY signal turns OFF and the
positioning complete signal turns ON. However, it does not turn ON if the
positioning complete signal output time is "0".
• When the positioning complete signal output time elapses, the positioning
complete signal turns OFF.
(b) When next positioning is to be carried out
• After the preset time of the dwell time has elapsed, next positioning control
is started.
V
ON
OFF
ON
OFF
ON
OFF
OFF
Fig. 7.3 ON/OFF timing of each signal at start of positioning control
POINT
The BUSY signal [X8 to XF] turns ON even when position control of movement
amount 0 is executed. However, since the ON time is short, the ON status may not
be detected in the sequence program.
(The ON status of the start complete signal [X10 to X17] and positioning complete
signal [X18 to X1F] can be detected in the sequence program.)
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Dwell time
ON
MELSEC-Q
Dwell time Dwell time
t
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