• The following figure shows the operation at completion of the PSTRT instruction.
Sequence scan
0
PSTRT
instruction
Completion device (d)
OFF
Completion status
OFF
indication device (d)+1
Precautions
• If the positioning is started by using the PSTRT instruction, the Position start signal [Y10, Y11, Y12, Y13] will not turn on.
In this case, although the start completion signals [X10, X11, X12, X13] turn on, the ON time is short; the program may fail
to detect the ON state. For this reason, start completion cannot be checked using the start completion signals [X10, X11,
X12, X13]. Check the positioning control status with the start command of the PSTRT instruction or the BUSY signal [XC,
XD, XE, XF].
• If the positioning is started by using the PSTRT instruction, and then the stop command is input before the positioning
completes, the completion device (d) turns on for one scan and the execution of the PSTRT instruction completes.
• The following instructions cannot be executed simultaneously to a single axis. For different axes, any of the following can
be executed concurrently with a G.ABRST instruction.
• Positioning start instruction (PSTRT)
• Absolute position restoration instruction (ABRST)
• Teaching instruction (TEACH)
• The PSTRT instruction is executed when the RD75 READY signal [X0] is on. While the RD75 READY signal [X0] is off,
the instruction cannot be executed even though it is requested. (No processing is performed.) Before executing the
instruction, turn on both the PLC READY signal [Y0] and the RD75 READY signal [X0].
• If multiple axes concurrent start is executed using the PSTRT instruction, the completion device (d) turns on when the
positioning completes for the axis where the PSTRT instruction has been executed (e.g. Axis 1 for GP.PSTRT1).
• If the PSTRT instruction is used, the starting time will delay 0 to 0.88ms relative to the Positioning start signal [Y10, Y11,
Y12, Y13].
Operation error
Error code
Description
((s)+1)
1862H
A value other than 1 to 600, 7000 to 7004, or 9001 to 9004 was set in "Starting number" of (s)+2.
1865H
An instruction was specified for an undefined axis (e.g. the GP.PSTRT3 instruction was specified when RD75P2 is used).
END
0
END
Execution of
the instruction
0
END
0
Completion of the instruction
ON
Completed with an error
ON
Completed
successfully
1 scan
22 POSITIONING INSTRUCTIONS
22.2 Starting the Positioning
END
0
END
OFF
OFF
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22