109
0
1
0
1
0
1
0
1
0
1
01
Time
2
START
IR n, bit 00
STOP
IR n, bit 15
(or external interrupt)
Pulse output
Positioning Completed flag
IR n+5, bit 00
Busy flag
IR n+5, bit 12
Positioning action number
IR n+7, bits 07 to 00
Output code
IR n+7, bits 11 to 08
Target position
for action #0
Stops at target position
for action #1.
Output code of
action #0
Output code of
action #1
#0
#0
#1
Target speed #5
This diagram shows execution when a target position designated from the
origin (i.e., not an increment) is exceeded during deceleration for STOP, as
can happen when STOP is executed during the end of a continuous position-
ing action. If START is executed again before this situation is corrected, the
feeding direction for the action will be wrong, and an error (code 5020) will be
generated due to inability to begin the action. The Position Control Unit can
be restarted after manually feeding (with JOG) back to the other side of the
target position for action #0.
This error will also be generated if the target position for action #0 is exceed-
ed through manual operations before START is executed following STOP.
Example 3
External Interrupt Commands Section 4–11
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