Mitsubishi Melsec-A Series User Manual page 82

6. PROGRAMMING
/MELSEC
6.1.2 N o t a on programming
( 1
)
Initial program
The following program steps should be used with the AD71.
-4
M9038
X A (battery error)
n
I i
M9006 (ACPU battery error)
I
I
W
(ACPU RUN)
- i t
M9039
Interlock
IU
X I
W
b
Provide stan interlock.
AD71 ready
Usable for stop, etc.
xB
Error detection
t b
< b
I
0
sequence
'Resetting the ACPU while the A D 7 1 is "bury" may cause
it
to flag an error, to
guard against this use the
above
sequence.
'Resets A 0 7 1 error 1 scan
after CPU R U N .
Bettew error
PC resdv
Fig.
6.2 Initial
Program
(2) PC
ready reset
Where necessary, the PC ready signal should be disabled when
an error is detected.
(3)
Zeroing
The system should be zeroed before positioning is started and
when a zeroing request is received from the AD71.
(4) Zeroing actuator
Ensure that the zeroing actuator
is serviceable and reliable.
Failure to receive an input from this switch will allow the zeroing
routine to maintain the drive signal.
(5) Overrun precautions
1
The upper and lower stroke limits will only be operable if the
AD71 is functioning normally. Upper and lower limit switches
should be hard wired into the system.