Mitsubishi MELSEC-A A1SD71-S2 User Manual page 109

6. PROGRAMMING
MECS€GA
(4)
Program
(a) Operating data already written from the peripheral device or
AD71TU.
The following program assumes that parameters, zero return
data, and positioning data have already been written
to the
AlSD71 buffer memory using the peripheral device
or
AD71TU.
[Example] To start at
X
axis data number
1.
[Notes]
(1 )
For start conditions, see Table 6.1.
Provide necessary interlock in accordance with its use.
(2) Actual positioning operation depends on data No.
1
pattern setting.
(3) For stop during positioning, refer to Section 6.3.9.
[Data transfer]
CPU data register AlSD71 buffer memory
To write start data No.
I t +
[Program]
M9038
T O K1 K 1 K201 H1
Battery error
X1A
RUN
Positioning mode
M9039
setting command
Interlock
W
n
i I
I Y
I Y
A I AI
Positioning mode
setting command
X1 1 Interlock
--I 1
IY I Y
A I AI
X-axis
+ H I IrY X
IrHW+l
start X11 X14 X18 X1B X1E Interlock
PLS M30
+ ' + A T
M30
SET Y20
Y20 X18
+ H I
Y20 RST
Resets an AD71 error by initial-
ization after CPU RUN.
Battery error
PC ready
Write the positioning mode to
the
buffer memory.
(Positioning control)
Set the emergency stop time
and deceleration of the X axis.
(Set
to 1000 msec.)
Set the start data number
(No. 1)
Write
the
data number to buffer
memory address 0.
X-axis start signal
Reset
the X-axis start signal by
using the X-axis start complete.
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