Mitsubishi Electric MELSEC iQ-F FX5 Programming Manual page 633

■Example of IST instruction introduction (example of workpiece transfer mechanism)
• Operation mode
Stepping
operation
X22
Zero return
Zero return
operation mode
PB
X21
X25
Individual
operation mode
X20
Leftward
Moving up Unclamping
travel
PB PB PB
X5 X6 X7
Rightward
Moving down
Clamping
travel
PB PB PB
X10 X11 X12
Pushbutton switches for individual operations
of the robot hand shown in the figure on the right
Pushbutton switches for the external circuit to
turn ON and OFF the load power supply
Operation mode
Manual mode Individual operation mode:
Zero return operation mode:
Automatic mode Stepping operation mode:
Cycle operation mode
Continuous operation mode
• Transfer mechanism
Start
Left limit X4
X26
Zero point
(1) Moving
down
Upper limit X2
Y0
(3) Moving up
Lower
Y2
limit
X1
What is the zero point condition?
Upper limit X2 is ON, left limit
Clamping
X4 is ON and unclamping Y1
is OFF.
(2) Clamping
Y1 ON
• For using IST instruction, it is necessary to assign inputs having consecutive device numbers as shown below for mode
inputs. When using non-consecutive inputs or omitting some modes, change the layout by using an auxiliary relay as the
head input for mode specification as shown in the figure below.
Input device Assignment
X20 Individual operation mode
X21 Zero return operation mode
X22 Stepping operation mode
Mechanism for transferring a workpiece from the
point A to the point B using the robot hand
Cycle
operation mode
X23
Continuous
Power supply
operation mode
X24 PB
PB
Start X26
Emergency stop
PB
PB
Stop X27
Contents of operation
Each load is turned ON and OFF by an individual pushbutton switch.
When the pushbutton switch for zero return is pressed, the machine automatically returns to the
zero point.
Every time the start button is pressed, the machine performs one process.
When the start button is pressed while the machine is located at the zero point, the machine
performs one cycle of automatic operation and stops at the zero point.
If the stop button is pressed in the middle of one cycle, the machine stops immediately. When the
start button is pressed after that, the machine performs the continuous operation from the last
position, and automatically stops at the zero point.
When the start button is pressed while the machine is located at the zero point, the machine starts
continuous operation.
When the stop button is pressed, the machine finishes the current cycle until the zero point, and
then stops at the zero point.
(4) Rightward Y3
(8) Leftward Y4
Y3
Rightward Right limit X003
Y4
Leftward
Left limit X4
Upper
limit X2
Y2
Moving
Unclamping Y1
Workpiece
Point A
Right limit
X3
(1) Moving down
Y0
(7) Moving up
Y2
Lower
limit
X1
Unclamping
(6) Unclamping
Y1 OFF
Moving down
Y0
Lower
up limit X1
Clamping Y1
Point B
Upper
limit
X2
8 APPLICATION INSTRUCTION
8.19 Initial State
8
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