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CHAPTER 7 PROGRAMMING
7
7.4 When Using the Module in a Remote I/O Network
7.4.2 OPR program
(c) Execution condition
(d) Device used by the user
Check item Condition
External I/O signal
Servo READY signal (READY) ON
Stop signal (STOP) OFF
Upper limit signal (FLS) ON
Lower limit signal (RLS) ON
I/O signal
WDT error, H/W error signal (X1020) OFF
QD73A1 READY signal (X1021) OFF
BUSY signal (X1024) OFF
Excessive error signal (X1027) OFF
Error detection signal (X1028) OFF
OPR start complete signal (X1030) OFF
Synchronization flag (X1034) ON
OPR start signal (Y1030) OFF
Stop signal (Y1037) OFF
PLC READY signal (Y103D) OFF
Buffer memory OPR parameters No error
Device Description
X22 OPR parameter setting command
X24 OPR command
D20 OP address (lower 16 bits)
D21 OP address (upper 16 bits)
D22 OPR speed (lower 16 bits)
D23 OPR speed (upper 16 bits)
D24 Creep speed (lower 16 bits)
D25 Creep speed (upper 16 bits)
D26 Movement amount after near-point dog ON (lower 16 bits)
D27 Movement amount after near-point dog ON (upper 16 bits)
M3 OPR parameter writing
M6 OPR parameter setting memory
M7 OPR command pulse
M210 Z(P).REMTO instruction completion
M211 Z(P).REMTO instruction failure