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Rotary table shortest direction control
ROTC
Basic
High
Redundant
Process
performance
ROTC
(S): (S)+0: Measures the number of table rotations (for system use) (BIN 16 bits)
(S)+1: Call station number (BIN 16 bits)
(S)+2: Call item number (BIN 16 bits)
n1:
Number of divisions of table (2 to 32767) (BIN 16 bits)
n2:
Number of low-speed sections (value from 0 to less than n1) (BIN 16 bits)
(D): (D)+0: A phase input signal (bits)
(D)+1: B phase input signal (bits)
(D)+2: 0 point detection input signal (bits)
(D)+3: High speed forward rotation output signal (for system use) (bits)
(D)+4: Low speed forward rotation output signal (for system use) (bits)
(D)+5: Stop output signal (for system use) (bits)
(D)+6: Low speed reverse rotation output signal (for system use) (bits)
(D)+7: High speed reverse rotation output signal (for system use) (bits)
Setting
Internal device
data
Bit
Word
(S)
n1
n2
(D)
Processing details
• This control functions to enable shortest direction control of the rotary table to the position of the station number designated
by (S)+1 in order to remove or deposit an item whose number has been designated by (S)+2 on a rotary table with equal
divisions of the value designated by n1.
• The item number and station number are controlled as items allocated by counterclockwise rotation.
• The system uses (S)+0 as a counter to instruct it as to what item is at which number counting from station number 0. Do not
rewrite the sequence program data. Accurate controls will not be possible in cases where users have rewritten the data.
• The value of n2 should be less than the number of table divisions specified by n1.
• (D)+0 and (D)+1 are A and B phase input signals that are used to detect whether the direction of the rotary table rotation is
forward or reverse. The direction of rotation is judged by whether the B phase pulse is at its rising or falling edge when the
A phase pulse is ON:
• When the B phase is at the rising edge: Forward rotation (clockwise rotation)
• When the B phase is at the falling edge: Reverse rotation (counterclockwise rotation)
• (D)+2 is the 0 point detection output signal that goes ON when item number 0 has arrived at the No. 0 station. When the
device designated by (D)+2 goes ON while the ROTC instruction is being executed, (S)+0 is cleared. It is best to perform
this clear operation first, then to begin shortest direction control with the ROTC instruction.
• The data from (D)+3 to (D)+7 consists of output signals needed to control the table's operation. The output signal of one of
the devices from (D)+3 to (D)+7 will go ON in response to the execution results of the ROTC instruction.
• If the command for the ROTC instruction is OFF, clears all (D)+3 to (D)+7 without performing shortest direction control.
• The ROTC instruction can be used only one time in all programs where it is executed. Attempts to use it more than one
time will result in inaccurate operations.
• No processing is performed when the value of (S)+0 to (S)+2, or the value of n2 is greater than n1.
Universal
LCPU
Command
R, ZR
J\
Bit
ROTC
S
n1
U\G
Zn
Word
6.8 Other Convenient Instructions
n2
D
Constant
Others
K, H
6 BASIC INSTRUCTIONS
6
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