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6-4
Examples of Command Execution Conditions
6-4-1 START
Program Example
START condition
Busy Flag
A
(Word s+0, bit 07)
Start Completed Flag
B
(Word s+6, bit 00)
START command bit
6-4-2 ORIGIN SEARCH
6-4-3 ORIGIN RETURN
6-4-4 RELEASE PROHIBIT
Examples of execution conditions for the various commands are shown below.
After all of the command data for a particular command has been set, the Intelli-
gent I/O Write command (WRIT) is used to transfer all the data together to the
Position Control Unit.
Note In the example ladder program diagrams shown here, WRIT is executed after
the command data for each individual command has been set, but in an actual
program WRIT would be executed after the data for all of the commands has
been set.
First confirm that the Busy Flag has been turned OFF, and then turn ON the
START command bit. Leave the START command bit ON until the Start Com-
pleted Flag turns ON.
DIFU
A
B
WRIT
Note When positioning with just a small amount of movement is executed, the Busy
Flag may turn OFF before the Start Completed Flag turns OFF.
First confirm that the Busy Flag has been turned OFF, and then turn ON the ORI-
GIN SEARCH command bit. Leave the ORIGIN SEARCH command bit ON until
the Origin Search Completed Flag turns ON.
Note The ladder program example is similar to that for START.
First confirm that the Busy Flag has been turned OFF, and then turn ON the ORI-
GIN RETURN command bit. Leave the ORIGIN RETURN command bit ON until
the Origin Reset Flag turns ON.
Note The ladder program example is similar to that for START.
First confirm that the Busy Flag has been turned OFF, and then turn ON the RE-
LEASE PROHIBIT command bit. Leave the START command bit ON until the
Pulse Output Enabled Flag turns ON.
Note The ladder program example is similar to that for START.
Timing Chart
START
condition
B
START
(Word m+1,
START
bit 00)
(Word
m+1,
Start Completed
bit 00)
Flag (Word s+6,
bit 00)
Busy Flag
(Word s+0,
bit 07)
Command
transfer
Pulse
output
Section
6-4
1 cycle
Command
cleared
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