3. POSITIONING SIGNAL
3.1 Internal Relays
3.1.2 Axis command signals
(1) Stop command (M3200+20n)
(a) The stop command is a signal used to stop an axis that is currently being driven and becomes effective at its leading edge (OFF→ON). (An axis for which the stop command is ON cannot be started.)
OFF
ON
Set speed V
Stop command for designated axis
Deceleration processing Stop
Control when stop command is OFF
t Stop command
(M3200+20n)
(b) It can also be used as the stop command when speed control is being executed.
(For details on speed control, see Section 7.12 or Section 7.13.) Processing when the Stop Command Comes ON Control Being
Executed If Control is Being Executed If Deceleration Stop Processing is Being Executed
Position control Speed control (I, II) JOG operation
The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.
The stop command is ignored and deceleration stop processing continues.
Manual pulse generator operation
An immediate stop is executed, with
no deceleration processing.
Zeroing
(1) The axis decelerates to a stop in the deceleration time set in the parameter block.
(2) A "stop during zeroing" error occurs and the error code (202) is stored in the minor error storage area for each axis.
POINT
If a stop is executed by turning ON the stop command (M3200+20n) during a zeroing operation, re-execute the zeroing operation.
If the stop command came ON after the proximity dog came ON in the zeroing operation, first retract to a position before the point where the proximity dog comes ON using JOG operation or positioning, and then execute the zeroing operation again.
3. POSITIONING SIGNAL
(2) Rapid stop command (M3201+20n)
(a) The rapid stop command is a signal used to rapidly stop an axis that is currently being driven and becomes effective at its leading edge
(OFF→ON). (An axis for which the rapid stop command is ON cannot be started.)
ON OFF
Set speed V
Rapid stop command for designated axis
Rapid stop processing Stop
Control when rapid stop command is OFF
t Rapid stop
command (M3201+20n)
(b) The details of stop processing when the rapid stop command comes ON are presented in the table below.
Processing when the Rapid Stop Command Comes ON Control Being
Executed If Control is Being Executed If Deceleration Stop Processing is Being Executed
Position control Speed control (I, II) JOG operation
The axis decelerates to a stop in the deceleration time set in the parameter block or servo program.
Deceleration processing is canceled and rapid stop processing executed instead.
Manual pulse generator operation
An immediate stop is executed, with
no deceleration processing.
Zeroing
(1) The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.
(2) A "stop during zeroing" error occurs and the error code (203) is stored in the minor error storage area for each axis.
POINT
If a stop is executed by turning ON the rapid stop command (M3201+20n) during a zeroing operation, re-execute the zeroing operation. If the rapid stop command came ON after the proximity dog came ON in the zeroing
operation, first retract to a position before the point where the proximity dog comes ON using JOG operation or positioning, and then execute the zeroing operation again.
3. POSITIONING SIGNAL
(3) Forward JOG start command (M3202+20n)/Reverse JOG start command (M3203+20n)
(a) While the sequence program keeps M3202+20n ON, JOG operation is executed in the direction in which address numbers increase. When M3202+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
(b) While the sequence program keeps M3203+20n ON, JOG operation is executed in the direction in which address numbers decrease.
When M3203+20n is turned OFF, a deceleration stop is executed in the deceleration time set in the parameter block.
POINT
Establish an interlock in the sequence program to make it impossible for the forward JOG start command (M3202+20n) and the reverse JOG start command (M3203+20n) to be ON at the same time.
(4) End signal OFF command (M3204+20n)
(a) The end signal OFF command is used to turn off the positioning start completed signal (M2400+20n) and the positioning completed signal (M2401+20n) by using the sequence program.
OFF
End signal OFF command (M3204+20n)
Positioning completed signal (M2401+20n)
Do not turn the end signal OFF command ON with a PLS command.
If it is turned ON with a PLS command, it will not be possible to turn OFF the positioning start completed signal (M2400+20n) or the positioning completed signal (M2401+20n).
(5) Speed/position switching enable command (M3205+20n)
(a) The speed/position switching enable command is used to make the CHANGE signal (signal for switching from speed to position control) effective from an external source.
• ON ... Control switches from speed control to position control when the CHANGE signal comes ON.
• OFF ... Control does not switch from speed to position control even if the CHANGE signal comes ON.
0
OFF
OFF
ON
CHANGE signal from external source Speed/position switching enable command (M3205+20n)
CHANGE CHANGE Control does not switch from
speed control to position control because M3205+20n is OFF
Control switches from speed control to position control because M3205+20n is ON
t
3. POSITIONING SIGNAL
(6) Limit switch output enable command (M3206+20n)
The limit switch output enable command is used to enable limit switch output.
• ON... The limit switch output ON/OFF pattern can be output.
• OFF ... Limit switch output goes OFF.
(7) Error reset command (M3207+20n)
The error reset command is used to clear the minor error code or major error code storage area of an axis for which the error detection signal has come ON (M2407+20n: ON), and reset the error detection signal (M2407+20n).
* *
* *
* *: Error code 00
OFF OFF
ON
Minor error code storage area
Major error code storage area
ON
00 Error reset (M2407+20n)
Error detection (M2407+20n)
(8) Servo error reset command (M3208+20n)
The servo error reset command is used to clear the servo error code storage area of an axis for which the servo error detection signal has come ON (M2408+20n: ON), and reset the servo error detection signal (M2408+20n).
* * OFF
OFF
ON
ON
* *: Error code Servo error code storage 00
area
Servo error reset command (M3208+20n)
Servo error detection signal (M2408+20n)
POINT
Do not turn the error reset command (M3207+20n) or servo error reset command (M3208+20n) ON with a PLS command.
If a PLS command is used, it will not be possible to reset the error or servo error.
REMARK
For details on minor error code, major error code, and servo error code storage areas, see Appendix 2.
3. POSITIONING SIGNAL
(9) External STOP input/invalid when starting command (M3209+20n) This signal is used to make external STOP signal input valid or invalid.
• ON...External STOP input is set as invalid, and even axes for which STOP input is currently ON can be started.
• OFF ...External STOP input is set as valid, and axes for which STOP input is currently ON cannot be started.
POINT
To stop an axis by external STOP input after it has been started with the M3209+20n command ON, switch the STOP input from OFF to ON (if STOP input is ON when the axis is started, switch it from ON to OFF to ON).
(10) Feed current value update request command (M3212+20n)
This signal is used to set whether the feed current value will be cleared or not when motion is started in speed/position switching control.
• ON... The feed current value is updated, starting from when motion is started.
The feed current value is not cleared on starting.
• OFF... The feed current value is updated, starting from when motion is started.
The feed current value is cleared on starting.
POINT
When motion is started with M3212+20n, leave M3212+20n ON until positioning control has been completed.
If M3212+20n is turned OFF part way through, the feed current value may not be reliable.
(11) Servo OFF command (M3215+20n)
The servo OFF command is used to establish the servo OFF status (free run status).
• M3215+20n : OFF ... Servo ON
• M3215+20n : ON ... Servo OFF (free run status)
This command is not effective during positioning and should therefore be executed on completion of positioning.
CAUTION
Turn the power supply at the servo side OFF before turning a servomotor by hand.
3. POSITIONING SIGNAL
(12) FIN signal (M3219+20n)
When an M-code is set in a point during positioning, travel to the next block does not take place until the FIN signal state changes as follows:
OFF→ON→OFF
Positioning to the next block begins after the FIN signal state changes as above.
CPSTART2 Axis 1 Axis 2
Speed 10000 FIN acceleration/ 100 deceleration
ABS-2
Axis 1, 200000 Axis 2, 200000 M code 10 ABS-2
Axis 1, 300000 Axis 2, 250000 M code 11 ABS-2
Axis 1, 350000 Axis 2, 300000 M code 12 ABS-2
Axis 1, 400000 Axis 2, 400000 CPEND
<K 0>
1
2
3
4
1 WAIT 2
Execution point
10 11
M-code P S M-code output in progress P S FIN signal S P [ms]
1. Once positioning to point 1 beings, M-code 10 is output and the M-code output in progress signal goes ON.
2. After the PLC takes appropriate action, the FIN signal goes ON.
Travel to the next point does not take place unless the FIN signal goes ON.
3. When the PLC's action causes the FIN signal to go ON, the M-code output in progress signal goes OFF.
4. After the M-code output in progress goes OFF,the PLC takes appropriate action so that the FIN signal goes OFF.
Positioning to the next point 2 beings through the above steps.
Timing Chart for Operation Description