List Of Dedicated Instructions; Interlock During Dedicated Instruction Is Executed - Mitsubishi Electric QD77MS User Manual

15.1 List of dedicated instructions

Application
Positioning start
Teaching
Writing to flash ROM
Parameter initialization

15.2 Interlock during dedicated instruction is executed

The dedicated instructions explained in this Chapter are listed in Table 15.1.
Table 15.1 List of dedicated instructions
Dedicated
instruction
ZP.PSTRT1
ZP.PSTRT2
This function starts the positioning control of the designated
axis of the Simple Motion module.
ZP.PSTRT3
ZP.PSTRT4
ZP.TEACH1
ZP.TEACH2
This function carries out teaching the designated axis of the
Simple Motion module.
ZP.TEACH3
ZP.TEACH4
This function writes the buffer memory parameters,
ZP.PFWRT
positioning data and block start data to the flash ROM.
This function initializes the buffer memory and flash ROM
ZP.PINIT setting data to the factory-set data (initial values of the
Simple Motion module).
POINT
The dedicated instructions of QD77MS16 can be used for only axis 1 to 4. They
cannot be used for axis 5 to 16. If the ZP.PSTRT5 to ZP.PSTRT16 or ZP.TEACH5
to ZP.TEACH16 is executed, the error "Program code error" (error code: 4002) for
PLC CPU and the error "PLC CPU error" (error code: 803) for QD77MS16 will
occur and positioning cannot be started.
Refer to "QCPU User's Manual (Hardware Design, Maintenance and Inspection) for
error of PLC CPU".
The positioning start instruction (ZP.PSTRT_) and teaching instruction (ZP.TEACH_)
cannot be executed simultaneously in each axis. If they are executed at the same time,
the second and later instructions are ignored by an internal interlock (no error will
occur).
The timing of the positioning start instruction (ZP.PSTRT_) is as shown below.
ZP.PSTRT_ instruction ON
Interlock provided by PLC CPU
BUSY signal
Positioning completed signal
Outline of functions
ON
OFF
ON
OFF
ON
OFF
OFF
15- 2
Chapter 15 Dedicated Instructions
ON
Reference
Section 15.3
Section 15.4
Section 15.5
Section 15.6