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5. DATA USED FOR POSITIONING CONTROL (List of buffer memory addresses) 5- 1 to 5-112
5.1 Types of data .......................................................................................................................................... 5- 2
5.1.1 Parameters and data required for control....................................................................................... 5- 2
5.1.2 Setting items for positioning parameters ........................................................................................ 5- 4
5.1.3 Setting items for zero point return parameters ............................................................................... 5- 6
5.1.4 Setting items for positioning data .................................................................................................... 5- 7
5.1.5 Setting items for start block data .................................................................................................... 5- 9
5.1.6 Setting items for condition data ....................................................................................................... 5- 10
5.1.7 Types and roles of monitor data ...................................................................................................... 5- 11
5.1.8 Types and roles of control data ....................................................................................................... 5- 14
5.2 List of parameters ................................................................................................................................... 5- 18
5.2.1 Basic parameters 1 .......................................................................................................................... 5- 18
5.2.2 Basic parameters 2 .......................................................................................................................... 5- 24
5.2.3 Detailed parameters 1 ...................................................................................................................... 5- 28
5.2.4 Detailed parameters 2 ...................................................................................................................... 5- 36
5.2.5 Zero point return basic parameters ................................................................................................. 5- 45
5.2.6 Zero point return detailed parameters ............................................................................................. 5- 52
5.3 List of positioning data ............................................................................................................................ 5- 57
5.4 List of start block data ............................................................................................................................. 5- 71
5.5 List of condition data ............................................................................................................................... 5- 76
5.6 List of monitor data .................................................................................................................................. 5- 80
5.6.1 System monitor data ........................................................................................................................ 5- 80
5.6.2 Axis monitor data .............................................................................................................................. 5- 90
5.7 List of control data .................................................................................................................................. 5-100
5.7.1 System control data ........................................................................................................................ 5-100
5.7.2 Axis control data .............................................................................................................................. 5-106
6. SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6- 1 to 6- 66
6.1 Information necessary for program creation ............................................................................................ 6- 2
6.1.1 When ACPU/QCPU (A mode) is used .............................................................................................. 6- 2
6.1.2 When QCPU (Q mode)/QnACPU is used ....................................................................................... 6- 15
6.2 Precautions for creating program ........................................................................................................... 6- 22
6.3 List of devices used ................................................................................................................................. 6- 23
6.4 Creating a program ................................................................................................................................. 6- 29
6.4.1 General configuration of program .................................................................................................... 6- 29
6.4.2 Positioning control operation program ............................................................................................. 6- 30
6.5 Positioning program examples ............................................................................................................... 6- 33
6.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode) ................................................ 6- 33
6.5.2 When using dedicated commands with ACPU/QCPU-A (A mode) ............................................... 6- 40
6.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU .............................................. 6- 46
6.6 Program details ....................................................................................................................................... 6- 51
6.6.1 Initialization program ........................................................................................................................ 6- 51
6.6.2 Start details setting program ............................................................................................................ 6- 52
6.6.3 Start program .................................................................................................................................... 6- 53
6.6.4 Restart program ............................................................................................................................... 6- 61
6.6.5 Stop program .................................................................................................................................... 6- 64