CKD AX Series Instruction Manual page 90

b. If the travel instruction and M0 (start input wait) are described in the same block
After the reset signal is supplied, the second start input causes restoration to the
indexing action.
Program Example 2
G11;
G101A4;
G91.1;
A0F1MO;
N1A1F0.5M0;
J1;
M30;
Timing chart after emergency stop during rotation (from 0° to 90° position) caused by
program example 2
Emergency stop input
AX stop (Deceleration and stop according to parameter 21 "deceleration rate at emergency stop")
Alarm output
Reset input
Start input wait output
Start input
Positioning completion output
Note 1: The restoration action from the emergency stop position follows the instruction
time, which is valid at the time, to travel to the last indexing position. (In the
example, the actuator travels from the emergency stop position to the 90°
position in 0.5 sec.)
Note 2: If the setting of parameter 23 (emergency stop input) is "3" (servo-off after stop),
and if the output axis is rotated manually with the servo turned off due to the
emergency stop in above pattern b, several rotations may occur at the maximum
rotation speed according to the amount of rotation.
Discontinue
Change the unit of F to the time (second).
Segment the full revolution into four.
Full revolution incremental
Travel to the nearest indexing position in 1 sec.
Start input wait
Block No. 1. Travel clockwise to index in 0.5 sec.
Start input wait
Jump to block "N1."
End of program
(Note 1) Travel to
last position (90°)
(restoration action)
Fig. 5.25 Timing Chart 5
— 5-31 —
To next traveling
100msec
position (180°)
(regular action)
(AX stop)
5
HOW TO
USE I/O
[SMB-14E]