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16. INDEXER POSITIONING OPERATION
(e) Timing chart
POINT
Always execute a home position return. The home positioning incomplete
(A90) occurs when turning on the start (RYn1) without executing a home
position return.
The timing chart is shown below.
1) When using the speed data of point table
*3
(Note 6)
3ms or less
Parameter No.PA11, PA12 Parameter No.PA11, PA12
Parameter No.PC35
Parameter No.PC35
Parameter No.PA11, PA12
Parameter No.PC35 Parameter No.PC35
ON
OFF
ON
OFF
ON
OFF
(Note 5)
Servo motor speed
0r/min
ON
OFF
ON
OFF
ON
OFF
*1
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Position/speed specifying system
selection (RYn 2)A
(Note 2)
Next station (RWwn 4)
*2
6ms or more
(Note 3)
4ms or more
No.1 No.3 No.1
No.1 No.3 No.1
ON
OFF
ON
OFF
(Note 4)
Speed instruction execution
demand (RY(n 2)1)
(Note 4)
Position instruction execution
demand (RY(n 2)0)
No.1 No.1 No.2
Point table No./speed command data
(RWwn 6)
ON
OFF
ON
OFF
Speed instruction execution
completion (RX(n 2)1)
Position instruction execution
completion (RX(n 2)0)
(Note 1)
(Note 7)
Servo-on (RYn0)
Operation mode selection 2
(RYn7)
Operation mode selection 1
(RYn6)
Forward
rotation
Reverse
rotation
Start (RYn1)
Rotation direction specifying
(RYn2)
In position (RXn1)
Rough match (RXn2)
Movement completion (RXnC)
Station output 1 to 8
(RX(n 2)2 to RX(n 2)9)
(Note 6) (Note 6)
Torque limit value to be effective
Out of in-position
range
Out of in-position
range
Out of in-position
range