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Programmable Logic Controller

XGB Built-in Positioning

XGT Series User’s Manual
XBM-DN16S XEC-DN20SU
XBM-DN32S XEC-DN30SU
XBC-DN20S(U) XEC-DN40SU
XBC-DN30S(U) XEC-DN60SU
XBC-DN40SU XEC-DP20SU
XBC-DN60SU XEC-DP30SU
XBC-DP20SU XEC-DP40SU
XBC-DP30SU XEC-DP60SU
XBC-DP40SU XEC-DN32H
XBC-DP60SU XEC-DN64H
XBC-DN32H(/DC) XEC-DP32H
XBC-DN64H(/DC) XEC-DP64H

 Read this manual carefully before

installing, wiring, operating, servicing
or inspecting this equipment.
 Keep this manual within easy reach
for quick reference.

http://eng.lsis.biz
Safety Instruction

Before using the product …

For your safety and effective operation, please read the safety instructions
thoroughly before using the product.

► Safety Instructions should always be observed in order to prevent accident

or risk by using the product properly and safely.

► Precautious measures can be categorized as “Warning” and “Caution”, and

each of the meanings is as follows.

This symbol indicates the possibility of serious injury

Warning or death if some applicable instruction is violated

This symbol indicates the possibility of severe or

Caution slight injury, and damages in products if some
applicable instruction is violated

Moreover, even classified events under its caution category may develop into
serious accidents relying on situations. Therefore we strongly advise users to
observe all precautions properly just like warnings.

► The marks displayed on the product and in the user’s manual have the
following meanings.

Be careful! Danger may be expected.

Be careful! Electric shock may occur.

After reading this user’s manual, it should be stored in a place that is visible
to product users.
Safety Instruction

Safety Instructions when designing

Warning

 Please, install protection circuit on the exterior of PLC to protect

the whole control system from any error in external power or PLC
module. Any abnormal output or operation may cause serious problem
in safety of the whole system.
- Install applicable protection unit on the exterior of PLC to protect
the system from physical damage such as emergent stop switch,
protection circuit, the upper/lowest limit switch, forward/reverse
operation interlock circuit, etc.
- If any system error (watch-dog timer error, module installation error,
etc.) is detected during CPU operation in PLC, the whole output is
designed to be turned off and stopped for system safety. However,
in case CPU error if caused on output device itself such as relay or
TR can not be detected, the output may be kept on, which may
cause serious problems. Thus, you are recommended to install an
addition circuit to monitor the output status.

 Never connect the overload than rated to the output module nor
allow the output circuit to have a short circuit, which may cause a
fire.

 Never let the external power of the output circuit be designed to

be On earlier than PLC power, which may cause abnormal output or
operation.

 In case of data exchange between computer or other external

equipment and PLC through communication or any operation of
PLC (e.g. operation mode change), please install interlock in the
sequence program to protect the system from any error. If not, it
may cause abnormal output or operation.
Safety Instruction

Safety Instructions when designing

Caution
 I/O signal or communication line shall be wired at least 100mm
away from a high-voltage cable or power line. If not, it may cause
abnormal output or operation due to noise.

Safety Instructions when designing

Caution
 Use PLC only in the environment specified in PLC manual or
general standard of data sheet. If not, electric shock, fire, abnormal
operation of the product or flames may be caused.

 Before installing the module, be sure PLC power is off. If not,

electric shock or damage on the product may be caused.

 Be sure that each module of PLC is correctly secured. If the

product is installed loosely or incorrectly, abnormal operation, error or
dropping may be caused, also unusual contact with cable is may
cause abnormal operation due to poor contact.

 If lots of vibration is expected in the installation environment,

don’t let PLC directly vibrated. Electric shock, fire or abnormal
operation may be caused.

 Don’t let any metallic foreign materials inside the product, which
may cause electric shock, fire or abnormal operation..
Safety Instruction

Safety Instructions when wiring

Warning
 Prior to wiring, be sure that power of PLC and external power is
turned off. If not, electric shock or damage on the product may be
caused.

 Before PLC system is powered on, be sure that all the covers of
the terminal are securely closed. If not, electric shock may be caused

Caution

 Let the wiring installed correctly after checking the voltage rated
of each product and the arrangement of terminals. If not, fire,
electric shock or abnormal operation may be caused.

 Secure the screws of terminals tightly with specified torque when

wiring. If the screws of terminals get loose, short circuit, fire or abnormal
operation may be caused. And if the screws of terminals too tighten, it
may cause dropping of product, short circuit, or abnormal operation
may be caused due to damage of screw or module.

 Surely use the ground wire of Class 3 for FG terminals, which is

exclusively used for PLC. If the terminals not grounded correctly,
abnormal operation may be caused.

 Don’t let any foreign materials such as wiring waste inside the
module while wiring, which may cause fire, damage on the product
or abnormal operation.

 Connector of extension connection is using designated tools pressing

or properly soldering.
Safety Instruction

Safety Instructions for test-operation or repair

Warning
 Don’t touch the terminal when powered. Electric shock or abnormal
operation may occur.

 Prior to cleaning or tightening the terminal screws, let all the

external power off including PLC power. If not, electric shock or
abnormal operation may occur.

 Please connect the battery accurately and Don’t let the battery
recharged, disassembled, heated, short or soldered. Heat,
explosion or ignition may cause injuries or fire.

Caution

 Don’t remove PCB from the module case nor remodel the module.
Fire, electric shock or abnormal operation may occur.

 Prior to installing or disassembling the module, let all the external

power off including PLC power. If not, electric shock or abnormal
operation may occur.

 Keep any wireless installations or cell phone at least 30cm away

from PLC. If not, abnormal operation may be caused.

 Before use edit function during operate, make sure to carefully read and
understand the User’s Manual. If not, it may be caused damage to the
product or accident due to disoperation.

 Do not drop and give an impact to battery. It may be caused leak of liquid
of inside battery due to damage the battery. Do not use any battery
that had been fell on the floor or had been shocked. Also let skilled
worker take in charge of the operation of changing battery.
Safety Instruction

Safety Instructions for waste disposal

Caution
 Product or battery waste shall be processed as industrial waste.
The waste may discharge toxic materials or explode itself.
 Revision History
Version Date Remark Page

V 1.0 2008.1 1. Positioning first edition according to XGB user manual

separation
2. Adding contents
1-8
(1) IO wiring method through smart link board
3-1
(2) Positioning function list
3-26
(3) How to check the positioning
6-1
(4) Positioning monitoring package
8-1
(5) Positioning trouble shooting method
3. Modifying contents
1-6
(1) IO signal allocation
4-1
(2) Positioning parameter setting method
(3) Positioning instruction contents 5-1

(4) Modifying safety precaution for safety -

V1.1 2008.3 1. Adding type and function according to developing XGB -

compact type basic unit (XBC-DxxxH)
V1.2 2009.8 1. Adding type and function according to developing XGB -
compact type basic unit (XEC-DxxxH)
(1) Adding description on positioning flag
(2) Adding description on positioning instruction
(3) Adding Positioning program example
V1.4 2011.6 1. Adding type and function according to developing XGB -
compact type basic unit (XBC-DxxxS(U))

V1.5 2013.7 1. Adding Motor Wiring Examples(XGT-Servo:XDL-S) APP3-6, 7

2. Adding Modules(XB(E)C-DPxxSU) 1-9,10

2-2,3
3. Adding PWM instruction 5-47,95

※ The num ber of User’s m anual is indicated right part of the back cover.
ⓒ 2008 LSIS Co.,Ltd. All Rights Reserved.
About User’s Manual

About User’s Manual

Thank you for purchasing PLC of LSIS.,Ltd.
Before use, make sure to carefully read and understand the User’s Manual about the functions,
performances, installation and programming of the product you purchased in order for correct use and
importantly, let the end user and maintenance administrator to be provided with the User’s Manual.
The User’s Manual describes the product. If necessary, you may refer to the following description and order
accordingly. In addition, you may connect our website(http://eng.lsis.biz/) and download the information as a
PDF file.
Relevant User’s Manuals
No. of User’s
Title Description
Manual
XG5000 user’s It describes how to use XG5000 software about online functions
manual such as programming, printing, monitoring and debugging when 10310000512

(for XGK/XGB) using XGB series products.

XG5000 user’s It describes how to use XG5000 software about online functions
manual such as programming, printing, monitoring and debugging when 10310000834

(for XGI/XGR/XEC) using XGB (IEC language) series products

XGK/XGKB
It is the user’s manual for programming to explain how to use
Instructions & 10310000510
instructions that are used PLC system with XGB CPU.
Programming
XGI/XGR/XEC
It is the user’s manual for programming to explain how to use
Instructions & 10310000833
instructions that are used in XGB (IEC language) CPU
Programming
It describes power, IO, extension specification and system
XGB hardware 10310000693
configuration, built-in high speed counter of XGB main unit.
It describes power, IO, extension specification and system
XGB hardware (IEC) 10310000983
configuration, built-in high speed counter of XGB (IEC) main unit.
It describes how to use the analog input, analog output,
XGB Analog
temperature input module, system configuration and built-in PID 10310000920
user’s manual
control for XGB basic unit.
It is the user’s manual about XGB Cnet I/F that describes built-in
XGB Cnet I/F communication function and external Cnet I/F module of XGB 10310000816

basic unit
XGB FEnet I/F It describes how to use XGB FEnet I/F module. 10310000873
 ◎ Contents ◎

Chapter 1 General ............................................... 1-1~1-11

1.1 General ..........................................................................................................................1-1

1.1.1 Purpose of position function ...................................................................................1-1
1.1.2 Features ................................................................................................................1-2
1.2 Performance specifications ............................................................................................1-3
1.2.1 Performance specifications of XGB built-in positioning .........................................1-3
1.3 Operation Sequence of Positioning ................................................................................1-4
1.3.1 Operation Sequence of Positioning ........................................................................1-4
1.3.2 Flow of position signal ............................................................................................1-5
1.4 IO Signal Allocation ........................................................................................................1-6
1.4.1 Allocation of standard type (S type) I/O(input) signal ..............................................1-6
1.4.2 Allocation of standard type (S type) output signal ...................................................1-7
1.4.3 Allocation of high-end type (H type) input signal .....................................................1-8
1.4.4 Allocation of high-end type (H type) output signal...................................................1-9
1.5 I/O wiring by using Smart Link Board ...........................................................................1-10
1.5.1 Smart link board ...............................................................................................1-10

Chapter 2 General Specification ..................................... 2-1~2-7

2.1 General Specification ...................................................................................................2-1

2.2 Power Specification ........................................................................................................2-2
2.2.1 Standard type(XBM-DN□□S) power specification ...................................................2-2
2.2.2 High-end type (XBC-DN□□H) power specification ..................................................2-2
2.3 I/O specification..............................................................................................................2-3
2.3.1 Input Specification ..................................................................................................2-3
2.3.2 Output specification ...............................................................................................2-5
2.3.3 Output pulse level ................................................................................................2-7
Chapter 3 Before Positioning ....................................................................... 3-1~3-58

3.1 Positioning Function .......................................................................................................3-1

3.1.1 Positioning function list...........................................................................................3-1
3.1.2 Position control .....................................................................................................3-4
3.1.3 Speed control .........................................................................................................3-5
3.1.4 Speed/position switching control ............................................................................3-7
3.1.5 Position/speed switching control ............................................................................3-8
3.1.6 Linear interpolation control .....................................................................................3-9
3.1.7 Simultaneous start control ....................................................................................3-12
3.1.8 Synchronized control ...........................................................................................3-13
3.1.9 Homing ................................................................................................................3-14
3.1.10 Position and speed override ...............................................................................3-19
3.1.11 Positioning stop signal........................................................................................3-21
3.1.12 Manual operation ...............................................................................................3-23
3.1.13 Stroke Upper/Lower Limits ..............................................................................3-24
3.1.14 Output of positioning completion signal ..............................................................3-25
3.2 Positioning Parameter ..................................................................................................3-26
3.2.1 Positioning parameter setting sequence ..............................................................3-26
3.2.2 Relationship between positioning parameter and dedicated K area ..................... 3-30
3.2.3 Setting basic positioning parameters....................................................................3-31
3.2.4 Origin/Manual Parameter Setting for Positioning .................................................. 3-38
3.3 Positioning Operation Data...........................................................................................3-41
3.4 Positioning Status Monitoring and Area K for Input and Output .................................... 3-49
3.4.1 Status Monitoring and Flag for Positioning ...........................................................3-49
3.4.2 Flag for Positioning Instruction and Command .....................................................3-51

Chapter 4 Positioning Check .......................................................................... 4-1~4-4

4.1 The Sequence of Positioning Check...............................................................................4-1

4.2 Making of Operation Check Program ........................................................................... 4-3
Chapter 5 Positioning Instructions .............................................................. 5-1~5-92

5.1 Positioning Instruction Alarm ..........................................................................................5-1

5.2 Details of Positioning Instructions ...................................................................................5-3
5.2.1 Origin Return Instructions ......................................................................................5-3
5.2.2 Fixed Origin Setting Instruction ..............................................................................5-7
5.2.3 Direct Starting Instruction .......................................................................................5-9
5.2.4 Indirect Starting Instruction .................................................................................5-12
5.2.5 Straight Interpolation Starting Instruction ..............................................................5-15
5.2.6 Simultaneous Starting Instruction .........................................................................5-18
5.2.7 Speed Position Switching Instruction ................................................................5-20
5.2.8 Position Speed Switching Instruction....................................................................5-22
5.2.9 Deceleration Stop Instruction ............................................................................5-24
5.2.10 Position synchronous Instruction ........................................................................5-26
5.2.11 Speed Synchronous Instruction ..........................................................................5-29
5.2.12 Position Override Instruction ..............................................................................5-32
5.2.13 Speed Override Instruction .................................................................................5-34
5.2.14 Positioning Speed Override Instruction ..............................................................5-36
5.2.15 Inching Starting Instruction .................................................................................5-38
5.2.16 Starting Step Number Change Instruction ..........................................................5-39
5.2.17 M Code Cancel Instruction ...............................................................................5-40
5.2.18 Current Position Preset Instruction .....................................................................5-41
5.2.19 Emergency Stop Instruction ...............................................................................5-42
5.2.20 Error Reset, Output Inhibition, Inhibition Termination.......................................... 5-43
5.2.21 Parameter/Operation Data Save ........................................................................5-45
5.2.22 Pulse width Modulation ......................................................................................5-47
5.3 Positioning Function Blocks (for XEC) ..........................................................................5-49
5.3.1 General for Function Block ...................................................................................5-49
5.3.2 Function Block for Return to Origin ......................................................................5-50
5.3.3 Function Block for Floating Origin Setting ............................................................5-53
5.3.4 Direct Start-up Function Block ..............................................................................5-55
5.3.5 Indirect Start-up Function Block ...........................................................................5-58
5.3.6 Linear Interpolation Start-up Function Block .........................................................5-61
5.3.7 Simultaneous Start-up Function Block ................................................................5-64
5.3.8 Velocity to Position Transfer Function Block .........................................................5-66
5.3.9 Position Velocity Transfer Function Block .............................................................5-68
 5.3.10 Deceleration Stop Function Block ......................................................................5-70
5.3.11 Position Synchronization Function Block ............................................................5-73
5.3.12 Speed Synchronization Function Block ..............................................................5-77
5.3.13 Position Override Function Block .......................................................................5-80
5.3.14 Speed Override Function Block ..........................................................................5-82
5.3.15 Positioning Speed Override Function Block........................................................5-84
5.3.16 Inching Start Function Block ...............................................................................5-86
5.3.17 Start Step Number Change Function Block ........................................................5-87
5.3.18 M Code Release Function Block ........................................................................5-88
5.3.19 Present Position Preset Function Block .............................................................5-89
5.3.20 Emergency Stop Function Block ........................................................................5-90
5.3.21 Error Reset, Output Cut-off Release Function Block .......................................... 5-91
5.3.22 Parameter/Operation Data Write Function Block ................................................5-93
5.3.23 Pulse width Modulation ......................................................................................5-95

Chapter 6 Positioning Monitoring Package................................................... 6-1~6-9

6.1 Introduction to Positioning Monitoring Package ..............................................................6-1

6.1.1 Introduction of Positioning Monitoring Package ......................................................6-1
6.2 Menus and Functions of Positioning Monitoring .............................................................6-3
6.2.1 Monitoring and Command ......................................................................................6-3
6.3 Parameter/Operation Data Setting Using Monitoring Package .......................................6-8
6.3.1 Changing the Position Parameter ..........................................................................6-8
6.3.2 Change of Position Operation Data ........................................................................6-9

Chapter 7 Program Examples of Positioning .............................................. 7-1~7-38

7.1 System Composition and Setting of Input and Output ....................................................7-1

7.2 Program Examples.........................................................................................................7-3
7.2.1 Floating Origin Setting/Single Operation ..............................................................7-3
7.2.2 Straight Interpolation Operation ............................................................................7-5
7.2.3 Deceleration Stop .................................................................................................7-8
7.2.4 Setting of Operation Step/Single Operation ........................................................7-10
7.2.5 Setting of Operation Step/Speed Control ............................................................7-12
 7.2.6 Simultaneous Start .............................................................................................7-15
7.2.7 Position Synchronous Start ................................................................................7-17
7.2.8 Speed Synchronous Start ...................................................................................7-20
7.2.9 Emergency Stop .................................................................................................7-23
7.2.10 Jog Operation ...............................................................................................7-25
7.2.11 Speed Override ................................................................................................7-27
7.2.12 Position Override..............................................................................................7-29
7.2.13 Speed override with Position ............................................................................7-32
7.2.14 Speed, Position, and Parameter Teaching ........................................................7-34

Chapter 8 Troubleshooting Procedure .......................................................... 8-1~8-6

8.1 Basic Procedure of Troubleshooting ...............................................................................8-1

8.2 Check by Using the LED ................................................................................................8-2
8.2.1 LED Check ...........................................................................................................8-2
8.3 Check by Error Code ......................................................................................................8-5
8.3.1 How to Check Error Codes ...................................................................................8-5
8.4 Check of Motor Failures .................................................................................................8-6
8.4.1 If the Motor Doesn’t Work .....................................................................................8-6

Appendix 1 List of Error Codes ...................................................... APP.1-1~APP.1-7

APP.1.1 List of PLC Error Codes .................................................................................. APP.1-1

APP.1.2 List of Positioning Error Codes ....................................................................... APP.1-2
Appendix 2 Positioning Instruction and K area List ................... APP.2-1~APP.2-43

APP 2.1 Positioning instruction list ............................................................................... APP.2-1

APP 2.2 Positioning Dedicated K area List ................................................................... APP.2-2
APP 2.2.1 K area of positioning basic parameter................................................. APP.2-2
APP 2.2.2 K area of positioning home parameter ................................................ APP.2-3
APP 2.2.3 Positioning operation data K area ....................................................... APP.2-4

Appendix 3 Motor Wiring Example............................................... APP.3-1~APP.3-35

APP.3.1 Stepping Motor Wiring Example...................................................................... APP.3-1

APP.3.2 Servo Motor Wiring Example .......................................................................... APP.3-2

Appendix 4 Dimension................................................................................ APP.4-1~APP.4-7

Chapter 1 General

Chapter 1 General
XGB series transistor output type contains 2 positioning axes. This manual describes the specifications and
usage of positioning.

1.1 General

1.1.1 Purpose of position function

The purpose of position function is to exactly move an object from the current position to a designated
position and this function executes highly precise position control by sending a position pulse string
signal to types of servo drive or stepping motor control drive. For applications, it may be widely used;
for instance, machine tools, semiconductor assembling machine, grinder, small machine center, lifter
and etc.

< XGB positioning function general >

< Positioning system inner block diagram >

1- 1
Chapter 1 General

1.1.2 Features
Positioning function features the followings.

(1) Max. two axis, 100kpps positioning

- XGB PLC can execute positioning of up to 2 axes with up to 100kpps.

(2) Diversity of positioning function

- XGB PLC contains various functions necessary for position system such as position control at any
temporary position or constant speed operation.
(a) Operation data containing position address, operation method and operation pattern may be set
up to 80 steps per axis (based on “H” type). It executes position function by using this operation
data.
(b) Linear control is available by using each operation data
- The control can also perform single position control by one operation data and continuous
position control by several operation data
(c) linear interpolation control is available.
(d) According to operation data and control types designated by parameters, position control, speed
control, position/speed switching control and position/speed switching control are available
(e) It also provides various home return functions.
1) Home return can be chosen among the following three.
▪ Origin detection after DOG Off
▪ When DOG On, Origin detection after deceleration
▪ Origin detection by DOG
2) temporary position can be set as machine’s origin by using floating origin setting function.

(3) Easy maintenance

- It saves data such as position data and parameter into flash memory of main unit permanently.
- The modified data during positioning can be preserved in the flash memory by application
instruction (WRT/APM_WRT instruction).

(4) XG5000 can perform self-diagnosis, monitor and test.

(a) Diagnosing of I/O signal line.
(b) It can test all functions of built-in positioning or check the current operation status without
program through special module monitoring
(c) It is easy to take action because the user can check error by error occurrence flag (Ch0:
K4201, ,%KX6721 Ch1: K4301, %KX6881) and error code (Ch0: K427, %KW427 Ch1:
K437, %KW437) easily.

XGB positioning system Reference

•For parameter setting, refer to Ch3.2 and

for operation data setting, refer to Ch3.3.
•For instruction of positioning, refer to Ch5.
•For I/O signal, refer to Ch1.4.

1- 2
Chapter 1 General

1.2 Performance specifications

1.2.1 Performance specifications of XGB built-in positioning
The performance specifications of positioning function are as follows.
Here standard type indicates XBM-DN□□S/ XBC-DN□□S(U) and high end type indicate XBC(XEC)-DN□□H.
Each type is indicated as ‘S’ type and ‘H’ type.
Type XGB Basic Unit (Transistor output )
Item Standard type (“S” type) High-end type (“H” type)
No. of control axis 2 axes
Interpolation 2 axes linear interpolation
Pulse output method Open collector (DC 24V)
Pulse + Direction
Pulse output type Pulse + Direction
CW/CCW output
Position control, speed control, speed/position switching, position/speed
Control type
switching

Control unit Pulse

30 data areas per axis

(operation step no. 1 ∼ 30) 80 data areas per axis
* XBC-DN□□S(U) supports 80 (operation step no. 1 ~ 80)
data areas per axis

Setting through Embedded parameter of XG5000  permanent

Position data auto-preservation
Setting through dedicated monitoring package  permanent
Setting
preservation by PADT instruction
method
Setting through K area dedicated for positioning
 permanent preservation by application instruction
(WRT/APM_WRT instruction)

Positioning monitor Special module monitoring of XG5000 / monitoring by K area

Parameter, operation data  Flash memory

K area RAM (super capacitor back up for S type/ battery back up for H type)
Back-up
(Saving them in the flash memory is available by application
instruction(WRT/APM_WRT))
Position

Position method Absolute method / Incremental method

Position address
-2,147,483,648 ∼ 2,147,483,647(Pulse)
range

Speed range 1 ∼ 100,000pps(1pps unit)

Acc/dec processing Trapezoid-shaped

Acc/dec time 1 ∼ 10,000 ㎳ (selectable from 4 types of acc/dec patterns)

Max. output pulse 100 kpps

Max. connection distance 2m

< Performance specifications >

1- 3
Chapter 1 General

1.3 Operation Sequence of Positioning

1.3.1 Operation Sequence of Positioning

Operation sequence is as follows.

XBM-DN**S: V1.2 or above

XBC-DN**H: V2.2 or above
XEC-DN**H: V3.0 or above

1- 4
Chapter 1 General

1.3.2 Flow of position signal

Flow of position signal is as follows.

< XGB Positioning signal flow >

1- 5
Chapter 1 General

1.4 I/O Signal Allocation

1.4.1 Allocation of I/O signal for standard type (S type)

In case of S type, external I/O signal for built-in function is allocated as follows.

(1) Pin array of I/O connector

Pin array of I/O connector of XGB standard type transistor type basic unit is as follows.

Input Output

P000 P008 P020 P028

P001 P009 P021 P029
P002 P00A P022 P02A
P003 P00B P023 P02B
P004 P00C P024 P02C
P005 P00D P025 P02D
P006 P00E P026 P02E
P007 P00F P027 P02F
COM COM 12/24V COM
COM COM 12/24V COM

(2) Allocation of external input signal

Input contact point
Signal name Detail -
no.
detected at the falling edge of input contact
External lower X axis P0000
point.
limit signal
(LimitL) detected at the falling edge of input contact
Y axis P0002 Normally closed
point.
contact point
detected at the falling edge of input contact (B contact point)
External upper X axis P0001
point.
limit signal
(LimitH) detected at the falling edge of input contact
Y axis P0003
point.

X axis P0004 When homing, detected at the rising edge

DOG signal
Y axis P0006 When homing, detected at the rising edge Normally open
contact point
X axis P0005 When homing, detected at the rising edge (A contact point)
ORIGIN signal
Y axis P0007 When homing, detected at the rising edge

Input common X/Y axis COM Input common

1- 6
Chapter 1 General

(3) Example of wiring the external input signal

Example of wiring the external input signal is as follows.

< Example of wiring the external input signal >

1.4.2 Allocation of standard type (S type) output signal

(1) Allocation of output signal

When using the positioning function, the output signal is allocated as shown below.
Input contact
Signal name Detail -
point no.
Positioning X axis pulse string output contact
X axis P0020 point
(Open collector output)
Pulse output
Positioning Y axis pulse string output contact
Y axis P0021 point Low Active and
(Open collector output) High Active is
Positioning X axis direction output contact selectable in
X axis P0022 point parameter setting.
(Open collector output)
Direction output
Positioning Y axis direction output contact
Y axis P0023 point
(Open collector output)
X/Y DC12
External 24V For external power (12/24V) supply
axis /24V
Output X/Y
COM Output common
common axis

(2) Example of wiring external input signal

Example of wiring external output signal is as follows.

1- 7
Chapter 1 General

1.4.3 Allocation of compact type (S/H type) input signal

In case of compact standard/high-end type, external input signal for built-in positioning is allocated as
follows

(1) I/O terminal block array

Array of XGB transistor output type basic unit is as figure below.

* based on XBC-DN32H

Input (P0)

Output (P4)
* based on XBC-DN30S

1- 8
 Chapter 1 General

(2) Allocation of external input signal

Input contact point no.

Signal name XBC-DN(P) XEC-DN(P) Operation content Reference
Axis
□□S(U)/H □□H
Detected at the falling edge of input
External lower X axis P0008 %IX0.0.8
contact point
limit
(LimitL) Detected at the falling edge of input Normally
Y axis P000A %IX0.0.10 closed
contact point.
contact point
Detected at the falling edge of input (B contact
External upper X axis P0009 %IX0.0.9
contact point point)
limit
(LimitH) Detected at the falling edge of input
Y axis P000B %IX0.0.11
contact point

X axis P000C %IX0.0.12 When homing, detected at rising edge

DOG signal
Normally
Y axis P000E %IX0.0.14 When homing, detected at rising edge opened
contact point
X axis P000D %IX0.0.13 When homing, detected at rising edge (A contact
point)
ORIGIN signal
Y axis P000F %IX0.0.15 When homing, detected at rising edge

X/Y
Input common COM Input common terminal
axis

(3) Wiring example of external input signal

In case of using positioning function of XGB compact main unit, wiring example of input signal is as
follows.
(XBC-DN□□S(U)/H is used for example)

< XGB high-end positioning input signal wiring example >

1- 9
 Chapter 1 General

1.4.4 Allocation of compact type (S/H type) output signal

(1) Allocation of output signal
In case of using built-in positioning of XGB compact standard/high-end type main unit, output signal is
allocated as follows.
Operation content
Input contact point no.
Signal name XBC- XEC- Pulse + Direction Reference
XBC- CW/CCW mode
Axis DN(P) DN(P) mode
DN□□H
□□S(U) □□S(U)/H
Positioning X axis X axis CW pulse
X pulse string string output
P00020 P00040 %QX0.0.0
axis (Open collector (Open collector
Pulse output output) output)
(CW output) Positioning Y axis Y axis CW pulse
Y pulse string string output
P00021 P00041 %QX0.0.1
axis (Open collector (Open collector
Low Active and
output) output)
High Active is
X axis direction
X axis CCW pulse selectable in
output contact
X string output parameter
P00022 P00042 %QX0.0.2 point
axis (Open collector setting
Direction (Open collector
output)
output output)
(CCW Y axis direction
Y axis CCW pulse
output) output constant
Y string output
P00023 P00043 %QX0.0.3 point
axis (Open collector
(Open collector
output)
output)
X/Y Terminal for external power (12/24V) to
External 24V P
axis implement the transistor
Input X/Y
COM0 Output common terminal
common axis

* Standard type (XBC-DN(P)□□S(U)) supports only “pulse + direction mode”.

(2) Wiring example of external input signal

In case of using positioning function of XGB high-end basic unit, wiring example is as follows.

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Chapter 1 General

1.5 I/O wiring by using Smart Link Board

1.5.1 Smart link board

When using positioning function, easy wiring is available by connecting the I/O connector with smart
link board.
The available smart link and I/O cable are as follows.
XGB Smart link Connection cable
The no.
Classification Model Model Model Length Content
of pin
XBM-
SLT-
DN32S SLP- For main unit connection
Main unit 40 CT101- 1m
XBM- T40P (20Pin + 20Pin)
XBM
DN16S
SLT-
XBE- SLP-
40 CT101- 1m
DC32A T40P For extension module
XBE
connection
SLT-
SLP- (40Pin)
Extension 40 CT101- 1m
T40P
module XBE
XBE-
For extension module
TN32A SLP-
SLP- connection (40Pin)
40 CT101- 1m
RY4A Exclusive for relay built-in
XBE
SLP type

It describes wring of XGB, SLP-T40P and SLT-CT101-XBM.

For wring of other smart link boards or XGB extension module, refer to XGB user manual for hardware.

(1) SLT-T40P terminal array

Terminal array of SLP-T40P is as follows.

Item Specification
Rated voltage AC/DC 125[V]
Rated current Max. 1[A]
Withstanding
600V 1min
voltage
Insulation
100 ㏁ (DC500V)
resistor
Cable
1.25[㎟] or below
specification
Terminal/screw M3 X 8L
6.2 ㎏ f.㎝ or
Torque
above
Terminal
PBT, UL94V-0
material
Weight 186g

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Chapter 1 General

(2) Wiring of SLT-T40P and XGB main unit

Wiring of XGB main unit through SLP-T40P and SLT-CT101-XBM is as follows

XBM-DN32S

SLT-CT101-XBM

SLP-T40P

At this time, relationship of XGB I/O signal and Smart link board terminal number is as follows.
The following figure describes signal allocation when SLT-CT101-XBM is used as connection cable.
When the user makes the cable, make sure that wring is done as figure below.

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Chapter 2 General Specification

Chapter 2 General Specification

2.1 General Specification
General specification is as follows.

Related
No. Item Specifications
standards
Operating
1 0 ~ 55 °C
temperature
Storage
2 −25 ~ +70 °C
temperature
Operating
3 5 ~ 95%RH, no condensation
humidity
4 Storage humidity 5 ~ 95%RH, no condensation
If intermittent vibration exists -
Frequency Acceleration Amplitude Times
10 ≤ f < 57Hz − 0.075mm
57 ≤ f ≤ 150Hz −
2
Vibration 9.8m/s 10 times to
5
immunity If continuous vibration exists X, Y and Z IEC61131-2
Frequency Acceleration Amplitude directions,
10 ≤ f < 57Hz − 0.035mm each
57 ≤ f ≤ 150Hz −
2
4.9m/s
• Max. impact acceleration : 147 m/s
2

6 Shocks • Time allowed : 11ms IEC61131-2

• Pulse waveform : half sine wave (3 times to X, Y and Z directions, each)
Rectangular AC: ±1,500 V Test specifications
impulse noise DC: ± 900 V of LSIS
Electrostatic IEC61131-2
Voltage : 4kV (contact discharge)
discharge IEC61000-4-2
Radiating
7 Noise immunity IEC61131-2,
electronic field 80 ~ 1,000 ㎒, 10V/m
IEC61000-4-3
noise
Power Digital/Analogue Input/Output,
Fast transient / Type IEC61131-2
module Communication interface
Burst noise IEC61000-4-4
Voltage 2kV 1kV
8 Environment Free of corrosive gas and dust
9 Altitude Lower than 2,000m
10 Pollution degree 2 and lower
11 Cooling method Natural air cooling type

Note
1) IEC(International Electro technical Commission)
: International private group facilitating international cooperation of electric/electronic standardization, issuing
international standards and operating the compliance evaluation systems.
2) Pollution degree
: As an index representing the pollution degree of an environment to determine the insulation of a device,
pollution degree 2 generally means the status generating non-conductive contamination. However, it also
contains the status generating temporarily conduction due to condensation.

2-1
Chapter 2 General Specification

2.2 Power Specification

Power specification of XGB series main unit is as follows.

2.2.1 Standard type(XBM-DN□□S) power specification

Item Specification

Rated input voltage DC24V

Input voltage range DC20.4~28.8V(-15%, +20%)
Inrush current 70APeak or below
Input Input current Max. 1A (Typ. 550 ㎃)
Efficiency 60% or above
Allowed temporary
1 ㎳ or below
cutoff
Output voltage DC5V (±2%)
Output
Output current Max 1.5 A
Voltage status display When power is normal, PWR LED On
Cable specification 0.75 ~ 2 ㎟

2.2.2 Compact standard type (XB(E)C-DR/DN/DP□□S(U)) power specification

Specification

Item XB(E)C-
XB(E)C- XB(E)C-
DR(N)(P)20S(U)
DR/DN/DP40SU DR/DN/DP60SU
/DR(N)(P)30S(U)

Rated input voltage AC 100 ~ 240 V

Input voltage range AC85~264V(-15%, +10%)

Inrush current 50APeak or below

Input Input current 0.5A or below (220V), 1A or below (110V)

Efficiency 65% or above

Allowed temporary
10 ㎳ or below
cutoff
Output DC5V 1.5A 2A 2.5A
voltage DC24V 0.3A 0.3A 0.5A
Output Output DC5V DC 4.9 ~ 5.1V (±2%) DC 4.9 ~ 5.15V (-2%, +3%)

voltage
DC24V DC21.4~26.4 V(±2%)
ripple
Voltage status display When power is normal, PWR LED On
2
Cable specification 0.75 ~ 2 mm
* For protection of power supply, use power supplier which has maximum 4A fuse.

2-2
Chapter 2 General Specification

2.2.3 Compact high-end type (XB(E)C-DR/DN/DP□□H) power specification

Specification
XEC- XEC-
Item XBC- XBC-
DR32H DR64H
/DR32H DR64H
/DN32H /DN64H
/DN32H /DN64H
/DP32H /DP64H
Rated input
voltage AC 100 ~ 240 V
Input voltage
AC85~264V(-15%, +10%)
range
Inrush current 50APeak or less
Input
Input current 0.5A or less (220V), 1A or less (110V)
Efficiency 65% or above
Allowed
temporary cutoff 10 ㎳ or less (Checking is necessary)

Rated DC5V 2A 3A
output DC24V 0.4A 0.6A
Output Output DC5V DC 4.9 ~ 5.15V (-2%, +3%) DC 4.9 ~ 5.1V (±2%)
voltage
ripple DC24V DC21.4~26.4 V(±2%)

Voltage status display In case output voltage is normal, LED On

2
Cable specification 0.75 ~ 2 mm (Checking is necessary)
* For protection of power supply, use power supplier which has maximum 4A fuse.

2-3
Chapter 2 General Specification

2.3 I/O Specification

It describes I/O specification when P0000~P000F is used for built-in positioning. For using P0000~P000F
as general I/O, refer to XGB user manual for hardware

2.3.1 Input Specification

(1) Standard type input contact point specification

Contac X axis P0000 P0001 P0004 P0005

t point Ref.
no. Y axis P0002 P0003 P0006 P0007
External External upper
Signal name DOG HOME
lower limit limit
Rated input
DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
voltage
Rated input
about 7 ㎃/24V About 4 ㎃/24V
current
Insulation
Photo coupler insulation
method
Input impedance About 3.3 ㏀ About 5.6 ㏀
On DC 19V or above/5.7 ㎃ or
DC 19V or above /3.4 ㎃ or above
voltage/current above
Off
DC 6V or less/1.8 ㎃ or less DC 6V or less/1.1 ㎃ or less
voltage/current
Response time 0.5 ㎳ or less (When used for positioning)

Min. input width 100 ㎲ or above

Contact Contact
Pin Pin
point point
B10 P00 A10 P08
B09 P01 A09 P09
B08 P02 A08 P0A B10 A10

Circuit B07 P03 A07 P0B

configuration and B06 P04 A06 P0C

connector array B05 P05 A05 P0D
B04 P06 A04 P0E B1 A1

B03 P07 A03 P0F

B02 A02
COM COM
B01 A01

2-4
 Chapter 2 General Specification

(2) Compact standard type input contact point specification

Contact X axis P0008 P0009 P000C P000D

point Ref.
no. Y axis P000A P000B P000E P000F
External External upper
Signal name DOG HOME
lower limit limit
Rated input
DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
voltage
Rated input
About 4 ㎃/24V
current
Insulation method Photo coupler insulation

Input impedance About 5.6 ㏀

On voltage/current DC 19V or above /3.4 ㎃ or above

Off voltage/current DC 6V or less/1.1 ㎃ or less

Response time 0.5 ㎳ or less (when used for input for positioning)

Min. input width 200 ㎲ or above

No. Contact No. Contact

TB1 RX
TB2 485+
TB3 TX
TB1
TB4 485- TB2
TB5 SG TB3
TB4
TB6 00 TB5
Photo
0 coupler TB7 01 TB6
TB6 TB7
TB8 02
R TB8
11 Inner
TB9 03 TB9
TB23 R
circuit TB10 04 TB10
TB24 TB11
COM TB11 05 TB12
Circuit configuration TB13
TB12 06
and terminal array DC24 TB14
TB13 07 TB15
TB14 08 TB16
TB17
TB15 09
TB18
TB16 0A TB19
TB20
TB17 0B
TB21
TB18 0C TB22
TB19 0D TB23
TB24
TB20 0E
TB21 0F
TB22 10
TB23 24G
TB24 COM

For XBC-DN20S(U), there is no actual input point P0000C ~ P0000F. If you want to use them, turn on by
user program.

2-5
Chapter 2 General Specification

(3) Compact high end type input contact point specification

X axis P0008 P0009 P000C P000D

Contact %IX0.0.8 %IX0.0.9 %IX0.0.12 %IX0.0.13
point Ref.
no. Y axis P000A P000B P000E P000F
%IX0.0.10 %IX0.0.11 %IX0.0.14 %IX0.0.15
External External upper
Signal name DOG HOME
lower limit limit
Rated input
DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
voltage
Rated input
About 4 ㎃/24V
current
Insulation
Photo coupler insulation
method
Input impedance About 5.6 ㏀
On
DC 19V or above /3.4 ㎃ or above
voltage/current
Off
DC 6V or less/1.1 ㎃ or less
voltage/current
Response time 0.5 ㎳ or less (when used for input for positioning)

Min. input width 200 ㎲ or above

No. Contact No. Contact

TB1 RX
TB2 485+
TB3 TX
TB1
TB4 485- TB2
TB5 SG TB3
P00 TB4
TB6 TB5
IX0.0.0 P01
TB7 TB6
P02 IX0.0.1 TB7
TB8
IX0.0.2 P03 TB8
TB9 TB9
P04 IX0.0.3 TB10
TB10
IX0.0.4 P05 TB11
Circuit TB11 TB12
P06 IX0.0.5
configuration and TB12 TB13
IX0.0.6 P07 TB14
terminal array TB13 TB15
P08 IX0.0.7
TB14 TB16
IX0.0.8 P09 TB17
TB15
P0A IX0.0.9 TB18
TB16 TB19
IX0.0.10 P0B TB20
TB17
P0C IX0.0.11 TB21
TB18 TB22
IX0.0.12 P0D
TB19 TB23
P0E IX0.0.13 TB24
TB20
IX0.0.14 P0F
TB21
IX0.0.15
TB22 COM
TB23 24G
TB24 24V

2-6
Chapter 2 General Specification

2.3.2 Output specification

(1) Standard type output contact point specification

Conta X axis P0020 P0022

Ref.
ct no. Y axis P0021 P0023
Signal name Pulse string output Direction output
Rated load
DC5~24V (DC4.75~26.4V)
voltage
Max. load
0.1A/1 point or below
current
Insulation
Photo-coupler insulation
method
Inrush current 1A/10 ㎳ or below
Voltage drop
DC 0.3V or below
when On
Leakage current
0.1 ㎃ or below
when Off
Response time 0.1 ㎳ or below (Rated load, resistor load)
Cont
No. Contact No.
act
B10 P20 A10 P28

B09 P21 A09 P29

B08 P22 A08 P2A

B10 A10
Circuit B07 P23 A07 P2B
configuration
B06 P24 A06 P2C
and connector
array B05 P25 A05 P2D
(standard type)
B04 P26 A04 P2E
B1 A1
B03 P27 A03 P2F

B02 A02
CO
12/24V
B01 A01 M

2-7
Chapter 2 General Specification

(2) Compact standard type output contact point specification

Conta X axis P00040 P00042
Ref.
ct no. Y axis P00041 P00043

Signal name Pulse string output / CW output Direction output / CCW output
Rated load
DC5~24V (DC4.75~26.4V)
voltage
Maximum load
0.1A/1or less
current
Insulation
Photo coupler insulation
method
Inrush current 1A/10 ㎳ or less
Voltage drop
DC 0.3V or less
when On
Leakage current
0.1 ㎃ or less
when Off
Response time 0.1 ㎳ or less (rated load, resistive load)
No. Contact No. Contact

TB1
AC
TB2 FG
power
TB3
TB4 P
P20 TB1
TB TB5 TB2
P21 QX0.0.0
TB6 TB3
QX0.0.1 P22 TB4
TB07 TB7 TB5
P23 QX0.0.2 TB6
TB04 TB8 TB7
DC12/24 QX0.0.3 TB8
TB0 TB9 COM0 TB9
P24 TB10
TB10
TB10 QX0.0.4 P25 TB11
Circuit TB11 TB12
TB06 P26 QX0.0.5 TB13
Internal circuit

configuration and DC12/24 TB12 TB14

TB13 QX0.0.6 P27 TB15
terminal array TB13 TB16
QX0.0.7
TB14 COM1 TB17
TB14 TB18
P28
TB15 TB19
TB08 QX0.0.8
P29 TB20
DC12/24 TB16 TB21
TB15 QX0.0.9 P2A TB22
TB17
P2B QX0.0.10 TB23
TB16 TB18 TB24
QX0.0.11
TB12 TB19 COM2
P2C
TB11 DC12/24 TB20
QX0.0.12 P2D
TB21
P2E QX0.0.13
TB22
QX0.0.14 TB23 P2F
QX0.0.15
TB24 COM3

2-8
Chapter 2 General Specification

(3) Compact high-end type output contact point specification

X axis P00020 P00022
Cont %QX0.0.0 %QX0.0.2
act Ref.
no. Y axis P00021 P00023
%QX0.0.1 %QX0.0.3
Signal name Pulse string output / CW output Direction output / CCW output
Rated load
DC5~24V (DC4.75~26.4V)
voltage
Maximum load
0.1A/1or less
current
Insulation
Photo coupler insulation
method
Inrush current 1A/10 ㎳ or less
Voltage drop
DC 0.3V or less
when On
Leakage current
0.1 ㎃ or less
when Off
Response time 0.1 ㎳ or les (rated load, resistive load)
No. Contact No. Contact

TB1
AC
TB2 FG
power
TB3
TB4 P
P20 TB1
TB5 TB2
P21 QX0.0.0 TB3
TB6 TB4
QX0.0.1 P22
TB7 TB5
P23 QX0.0.2 TB6
TB8 TB7
QX0.0.3 TB8
TB9 COM0 TB9
P24 TB10
TB10
QX0.0.4 P25 TB11
TB11 TB12
Circuit
P26 QX0.0.5 TB13
configuration and TB12 TB14
QX0.0.6 P27 TB15
terminal array TB13 TB16
QX0.0.7 TB17
TB14 COM1
P28 TB18
TB15 TB19
P29 QX0.0.8 TB20
TB16 TB21
QX0.0.9 P2A TB22
TB17 TB23
P2B QX0.0.10
TB18 TB24
QX0.0.11
TB19 COM2
P2C
TB20
QX0.0.12 P2D
TB21
P2E QX0.0.13
TB22
QX0.0.14 TB23 P2F
QX0.0.15
TB24 COM3

2-9
Chapter 2 General Specification

2.3.3 Output pulse level

Output pulse of XGB built-in positioning consists of Pulse + Direction or CW+CCW like figure below.
At this time, output level of Low Active and High Active can be specified by positioning parameter and K
area flag dedicated for positioning (X axis: K4871, %KX7793, Y axis: K5271, %KX8433).

Supported
at S, H type

Supported
at H type

2-10
Chapter 3 Before positioning

Chapter 3 Before Positioning

It describes the function of position control, operation parameter setting, operation data setting, K area for
positioning, servo driver setting and programming.

3.1 Positioning Function

3.1.1 Positioning function list

Positioning function of XGB built-in positioning is as follows.
For more detail, refer to ch.5.2.

Positioning
Operation description Instruction Ref.
function
DST Ch.5.2.3
IST Ch.5.2.4
APM_DST Ch.5.3.4
APM_IST Ch.5.3.5

Operation
Position pattern
control

If the rising edge of start command is detected, it moves with designated speed to
Operation
designated position and after dwell time, complete signal is on during one scan.
DST Ch.5.2.3
IST Ch.5.2.4
APM_DST Ch.5.3.4
APM_IST Ch.5.3.5
Operation
pattern
Speed control

If the rising edge of start command is detected, it moves with designated speed
Operation and stops after deceleration by stop command. At this time, complete signal will
not be not on.
VTP Ch.5.2.7
APM_VTP Ch.5.3.8

Operation
speed/position pattern
switching
control

Switching
signal

Speed control is executed by start command and it is switched to position control

Operation
by switching signal and it moves to designated position.

3- 1
Chapter 3 Before positioning

Positioning
Operation description Instruction Ref.
function
PTV Ch.5.2.8
APM_PTV Ch.5.3.9

Operation
Position/speed pattern
switching
control

Position control is executed by start command and it is switched to speed

Operation
control by switching signal and stops after deceleration by stop command .
LIN Ch.5.2.5
APM_LIN Ch.5.3.6

Operation
Linear pattern
interpolation
control

2 axes linear interpolation control is executed by start command from

Operation
current position to target position.
SST Ch.5.2.6
APM_SST Ch.5.3.7

Operation
pattern
Concurrent
start

X axis and Y axis starts concurrently by start command.

Operation At this time, each operation data such as operation speed, target position
is applied to each axis.
SSP Ch.5.2.10
SSS Ch.5.2.11
APM_SSP Ch.5.3.11
APM_SSSB Ch.5.3.12

Operation
pattern
Sync start

If sync start is executed by command, subsidiary axis is synchronized with

Operation main axis’ position or speed. At this time, setting of subsidiary axis is
ignored and operates according to the operating status of main axis

3- 2
Chapter 3 Before positioning

Positioning Instru
Operation description ction
Ref.
function
ORG Ch.5.2.1
APM_ Ch.5.3.2
ORG

Operation
pattern
Home return

It goes to home direction and detects the mechanical origin

Operation
At this time, home method can be specified by operation parameter.
POR Ch.5.2.12
APM_ Ch.5.3.13
POR

Operation
Position override pattern

Operation It changes the target position by position override command.

SOR Ch.5.2.13
APM_ CH.5.3.1
SOR 4

Operation
Speed override pattern

Operation It changes the speed by speed override command.

PSO Ch.5.2.14
APM_ Ch.5.3.15
PSO

Operation
Speed override pattern
with position

It changes the speed at the designated position by speed override with

Operation
position command.

3- 3
Chapter 3 Before positioning

3.1.2 Position control

Position control is to move the designated axis from start address (present position) up to target
address (movement). There are two position control methods, absolute and incremental.

(1) Control by absolute coordinates (Absolute coordinates)

Object moves from start address to target address. Position control is performed, based on the
address designated in Home Return (home address).
Direction is determined by start address and target address.
• Start address < target address: forward positioning
• Start address > target address: reverse positioning

(a) example
• It assumes that operation data is specified as shown table 3-1. (For how to set operation
parameter, refer to the Ch.3.3)

Step Rep Address M A/D Speed

Coord. Pattern Control Method Dwell [㎳]
no. step [Pulse] Code No. [pls/s]
1 ABS END POS SIN 0 8,000 0 1 100 10
<Table 3-1 operation data example of absolute coordinates type>

• In table 3-1, since coordinates is ‘ABS’, control method is ‘POS’, step no. 1 is position control
by absolute coordinates.
• It assumes that the current poison is 1000. Since address in step no.1 is 8000, object moves
to 8000 as shown figure and increment is 8000-1000=7000. Object moves forward because
target address is larger than start address.

<Figure 3-1 operation example of absolute coordinates type>

Remark

• Every position/speed control is available as long as the origin is determined preliminarily.

• If it is executed while origin is not determined, error code 234 occurs and it doesn’t move.
- In case error occurs, refer to App.1.2 and remove the cause of error.
• Complete signal is on during one scan.

3- 4
Chapter 3 Before positioning

(2) Control by incremental coordinates

Object moves from current position as far as the address set in operation data. At this time, target
address is based on start address. Direction is determined by sign (+,-).
• In case Address is positive number: forward positioning (Direction increasing address)
• In case Address is negative number: reverse positioning (Direction decreasing address)

(a) Example
• It assumes that operation data is specified as shown table 3-2. (For how to set operation
parameter, refer to the Ch.3.3)

Step Rep Address M A/D Speed

Coord. Pattern Control Method Dwell [㎳]
no. step [Pulse] Code No. [pls/s]
1 INC END POS SIN 0 -7,000 0 1 100 10
<Table 3-2 operation data example of incremental coordinates type>

• In table 3-1, since coordinates is ‘INC’, control method is ‘POS’, step no. 1 is position control
by incremental coordinates.
• It assumes that current position is 5000. Since object moves as long as -7000, target stop at -
2000 (absolute coordinates) as shown figure 3-2. At this time, increment is -7000 pulse and
direction is reverse.

< Figure 3-2 operation example of incremental coordinates type>

3.1.3 Speed control

• Speed control means that object moves with steady speed (steady pulse string) until stop
command.

• In case of speed control, direction is determined by sign of Address set in operation data.
Forward : Address is positive number
Reverse : Address is negative number
In the speed control, direction is determined by sign of target address regardless of current
position and target position.
For example, current position is 100 and target position is 90, though target position is less than
current position, since sign is positive, it moves forward.

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Chapter 3 Before positioning

• In case of speed control, some items as figure below doesn’t affect the operation.

These items don’t affect the operation in case of speed

- If Control is specified as SPD, coordinates, pattern, method, M code, dwell time doesn’t affect the
operation.
- So in case of speed control, when object stops by STP command, it stops without dwell time and
M code doesn’t operate.

(1) Example
• It assumes that operation data is specified as shown table 3-3

Step Coord Contr Metho Rep Address M A/D Speed

Pattern Dwell [㎳]
no. . ol d step [Pulse] Code No. [pls/s]
1 INC END SPD SIN 0 10 10 1 100 10
<Table 3-3 operation data example of speed control>

• In table 3-3, since Control is ‘SPD’, step no. 1 is operation data of speed control.
• Since Address is positive number and Speed is 100, target moves forward with 100 pls/s speed
regardless of current position until stop command (DEC. stop or EMG stop).
• If object moves, flag (X axis: K4200, %KX6720, Y axis: K4300, %KX6880) is on. And if DEC.
stop command is executed, it stops after deceleration without dwell time and flag turns off
immediately.
• At this time, deceleration time conforms to that in operation data, not operand of instruction.

< Figure 3-3 Operation of speed control >

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Chapter 3 Before positioning

3.1.4 Speed/position switching control

• It change speed control to position control by switching command (VTP instruction).

• In case of speed/position switching control, items affecting the operation are different according to
control method.

These items don’t affect the operation in case of speed

These items don’t affect the operation when changed into position

- First, object moves by speed control. If speed/position switching control is executed, target will
move by position control.
- At this time, position control is executed by absolute coordinates with initializing the current
position as 0. So coordinates item doesn’t affect the operation.
- Since control method also changes by speed/position switching, control method in the operation
data doesn’t affect the operation.
- In case of speed/position switching, object keeps its previous direction.

(1) Example
• It assumes that operation data is specified as shown table 3-4.

Step Coord Contr Metho Rep Address M A/D Speed

Pattern Dwell [㎳]
no. . ol d step [Pulse] Code No. [pls/s]
1 INC END SPD SIN 0 1000 11 1 500 100

<Table 3-4 operation data example of speed/position switching control>

switching

occurrence flag

< Figure 3-4 Operation of speed/position switching control >

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Chapter 3 Before positioning

• If step no. 1 in table 3-4 starts, object moves forward by speed control because Control is SPD
and Address is positive number.
• If speed/position switching command (VTP instruction) is executed during speed control, current
position will be initialized as 0 and object moves by position control until 1000.
• If object reaches target position, complete flag and M code occurrence flag will be on after dwell
time. At this time, M code number 11 is displayed as set in operation data.
• Positioning complete flag will be on during one scan and M code occurrence flag keeps on
status, until it is turned off by off command.

Remark

• M code occurrence flag is turned off by MOF instruction.

• Using MOF instruction, M code occurrence flag and M code number will be clear
simultaneously.
• Speed/position switching command is executed only when each axis is operating.
If it is executed during stop, it may cause error.
• If position/speed switching command is executed during operation by speed control, the
command is ignored. But at this time, error is not occurred.

3.1.5 Position/speed switching control

• It change position control to speed control by switching command (VTP instruction).

• In case of position/speed switching control, items affecting the operation are different according to
control method. In case position control, all items affect the operation but in case of speed, some
items affect the operation as shown below.

These items don’t affect the operation in case of position/speed switching

- First, object moves by position control. If position/speed switching control is executed, object will
move by speed control. At this time, the current position is not initialized. Only control method
changes into speed control and it continues operation
- When control method changes, some items in operation data doesn’t affect the operation.
(1) Example
• It assumes that operation data is specified as shown table 3-5.

Step Coord Contr Metho Rep Address M A/D Speed

Pattern Dwell [㎳]
no. . ol d step [Pulse] Code No. [pls/s]
1 INC END POS SIN 0 10000 12 1 500 100
< Table 3-5 operation data example of position/speed switching control >

• If step no. 1 in table 3-5 starts, object moves by position control according to operation data in
table 3-5 because Control is POS.
• If position/speed switching command (VTP instruction) is executed during position control,
object moves by speed control until stop command.
• If object stops by stop command, it will stop without dwell time and positioning complete flag will
not be on.

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Chapter 3 Before positioning

Switching signal

<Figure 3-5 Operation of position/speed switching control>

Remark

• Position/speed switching command is executed only when each axis is operating.

If it is executed during stop, it may cause error.
• If speed/position switching command is executed during operation by position control, the
command is ignored and causes error. But at this time, positioning doesn’t stop.

3.1.6 Linear interpolation control

• Object moves by linear interpolation control from start address to target address using two axes, X,
Y. There are two method in linear interpolation control, absolute coordinates and incremental
coordinates.

(1) Control by absolute coordinates

When linear interpolation control is executed, object moves based on the origin designated by
Home return.
Direction is determined by start address and target address for each axis.

• start address < target address: Forward

• start address > target address: Reverse

(a) How to set operation data

In the linear interpolation control, since two axes operates concurrently, it needs attention
The following is notice when setting the operation data.

1) Determining main axis

- For linear interpolation, first you have to determine the main axis. In the XGB built-in
positioning, main axis is determined automatically. The one which has a large moving
amount becomes main axis.

2) Determining control method

- In the linear interpolation operation, control methods of both axes should be specified as
“position”. If not, error will occur and it will not be executed.

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Chapter 3 Before positioning

3) Setting of operation pattern

- In case of main axis, operation pattern should be specified as ‘END’ or ‘KEEP’. In case it is
specified as ‘CONT’, it operates as ‘KEEP’.
- In case of subsidiary, pattern doesn’t affect the operation, it operates according to main axis
pattern.

(b) Example

• It assumes that operation data is specified as shown table 3-6 and current position are
X=1000 , Y=4000.
Step Rep Address M A/D Speed
Coord. Pattern Control Method Dwell [㎳] Step no.
no. step [Pulse] Code No. [pls/s]
X 1 ABS END POS SIN 0 8000 0 0 500 100
Y 1 ABS KEEP POS REP 3 1000 0 0 2000 20
<Table 3-6 operation data example of linear interpolation control by absolute coordinates>

< Figure 3-6 linear interpolation operation by absolute coordinates >

• If linear interpolation starts, main axis is determined automatically based on moving amount of X
and Y axis. In table 3-6, since moving amount of X axis is larger than Y axis X, X axis becomes
main axis.
• So operation pattern, speed, A/D number, dwell time of Y axis is ignored and it is specified
automatically according to operation data of X axis.
• Figure 3-7 indicates operation of linear interpolation control.

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Chapter 3 Before positioning

< Figure 3-7 operation of linear interpolation control >

(2) Control by incremental coordinates

It executes the linear interpolation control based on current position by incremental coordinates.
At this time, Address of operation data means how long object moves from current position.
Direction is determined sign of Address.

• In case Address is positive number: forward

• In case Address is negative number: backward

(a) Example

• It assumes that operation data is specified as shown table 3-7 and current position are
X=1000 , Y=4000.
Step Metho Rep Address M A/D Speed
Coord. Pattern Control Dwell [㎳] Step no.
no. d step [Pulse] Code No. [pls/s]
X 1 INC END POS SIN 0 6000 0 0 500 100
Y 1 INC KEEP POS REP 3 -2000 0 0 2000 20
< Table 3-7 operation data example of linear interpolation control by absolute coordinates >

< Figure 3-8 linear interpolation operation by absolute coordinates >

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Chapter 3 Before positioning

• If linear interpolation is executed, main axis is determined according to moving amount of X and
Y axis. In table 3-7, since moving amount of X axis is larger than Y, X axis becomes main axis.
• So subsidiary Y axis operation pattern, operation speed, ACC/DEC time, dwell time do not
affect the operation and recalculated according to operation data of main axis. For example, if
you execute the linear interpolation control with operation data such as table 3-7, subsidiary Y
axis starts as END, SINGLE operation and operates with automatically calculated ACC/DEC
speed and operation speed, as for Dwell time after stop, 100ms, dwell time of main axis X is
applied. not 20ms, setting value.

Remark
• A special attention should be paid that linear interpolation start operates on 2 axes
simultaneously.
• Pattern of main axis can specified as ‘END’, ‘KEEP’. If it is specified as ‘CONT’, object
moves as it is ‘KEEP’.
• Available commands during linear interpolation are DEC. STOP, EMG. STOP.
• During linear interpolation operation, position/speed switching control, speed override,
position override, speed override with position, If those are executed during liner
interpolation operation, it may cause error.
• Operation method, operation pattern, speed limit, dwell time is specified as that of main axis.
• Speed, acceleration/deceleration time, bias speed of subsidiary axis is calculated again
automatically.
• Backlash compensation amount, SW upper/lower limit is specified as it is for each axis.

3.1.7 Concurrent start control

• It starts each step for each axis concurrently by concurrent start control (SST instruction).
• If SST instruction is used, it can remove delay of start caused by scan time delay.

• SST instruction can be executed when two axes stop. If SST instruction is executed again after stop,
in case of incremental coordinates, the current position is initialized as 0.

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Chapter 3 Before positioning

3.1.8 Sync control

•In sync control, position or speed of subsidiary axis is synchronized with that of main axis. There are
two types in sync control, speed sync control and position sync control.

(1) Position sync control

• Position sync control means starting the operation step of subsidiary at the time when position of
main axis is same with position set in SSP instruction (Sync control)

Sync position

Start Position
sync

Start main axis

• Position sync control can be executed when origin of both axes is determined. When executing
the SSP instruction, if origin of main axis is not determined, error code 346 occurs and for
subsidiary axis, error code 344.
• When using SST instruction, specify the main axis to be different with subsidiary axis. If not, error
code 347 will occur.
• If synch control is executed, though pulse is not yielded until main axis goes to designated axis,
flag indicating whether subsidiary axis moves or not, turns on (X axis: K4200, %KX6720, Y axis:
K4300, %KX6880).
• After executing position sync control, if the user wants to cancel the execution of position sync
control, execute the STP instruction (stop command).

(2) Speed sync control

• If main axis starts as figure below, subsidiary axis moves with speed of sync speed rate set in
the SSS instruction (speed sync command).

Sync
speed

Start sync
control
Start main
axis

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Chapter 3 Before positioning

• It can be executed when origin of subsidiary axis is not determined.

• Since subsidiary axis moves according to speed of main axis, whether main axis moves by speed
control or position control doesn’t matter. At this time, direction of subsidiary axis is same as that
of main axis.
• When sync control is executed and main axis stops, though pulse is not outputted, flag indicating
whether subsidiary axis moves or not, turns on (X axis: K4200, %KX6720, Y axis:
K4300, %KX6880).
• In case of speed synch control, sync speed rate is 0.00% ~ 100.00%. If it is out of range, error
code 356 occurs.
• After executing speed sync control, if the user wants to cancel the execution of speed sync control,
execute the STP instruction (stop command).
• When executing speed sync control, if M code is on, error code 353 will occur.
• The user can set X axis, Y axis, channel 0~3 of High speed counter as main axis in the speed
sync control. For more detail, refer to Ch.5.2.12.

3.1.9 Home return

• Home return is used to fine mechanical origin when starting machine. Home return is executed
according to home parameter for each axis. In home parameter, items affecting homing are as
follows. (For setting of each parameter, refer to Ch.3.2)

Type Items Description -

Home Method Setting home method
Home Direction Start direction when homing
Home Address Origin address when detecting origin
Home
parameter Home High/Low speed High/Low speed when homing
Homing ACC/DEC Time ACC/DEC time when homing
Time required to remove offset pulse of
DWELL time remaining bias counter immediately after
positioning ends

• When origin is determined by homing, though the user inputs homing signal and DOG signal,
those are ignored.

(1) Type of Home method

Generally, home method can be divided into one using DOG and another not using DOG. In the XGB
built-in positioning, there are three methods using DOG.

Home method Necessary input signal Reference

Origin detection after DOG off
DOG, Origin
(0: DOG/HOME(OFF))
Content of () is displayed in
Origin detection after DEC. when
the Home Parameter of
DOG on DOG, Origin
XG5000.
(1: DOG/HOME(On))
Origin detection by DOG
DOG
(2: DOG)

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Chapter 3 Before positioning

(2) Origin detection after DOG Off

The operations by Home Return instruction using DOG and origin signal are as follows.

(a) If home return command (ORG instruction) is executed, it accelerates toward a preset home
return direction and with Home high speed.
(b) During operating with Home Return High speed, if rising edge of DOG signal occurs, it
operates with Home Return Low speed and monitors if there is falling edge of DOG signal. At
this time, though Origin signal is inputted while DOG signal is On, Origin is not determined.
(c) If first origin signal is entered after DOG signal changes from “On” to “Off”, it stops.

Remark

• While DOG signal is “On”, origin is not determined by origin signal. That is, origin may be
determined as soon as origin signal is inputted after DOG signal changes from “On” to “Off”.

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Chapter 3 Before positioning

Remark

• In speed-decreasing section, origin is not determined. Though DOG changed from “On” to
“Off” and Origin signal is inputted in speed-decreasing section, origin is not determined.
Origin is determined at first Origin signal after speed-decreasing section
.

• It operates as follows if it meets an external lower limit while waiting for origin entry after
DOG signal changes Off->On->Off. (The following figure is example when home direction
is backward)

(1) If object starts home return backward by homing command and meets rising edge of
DOG, it changes homing with slow speed and if it meets falling edge again , it waits to
determine the origin at the first origin signal.
(2) At this status, if external low limit input signal (B contact point) is entered, target
changes the direction and homing forward with high speed.
(3) At the moment when target meets rising edge of DOG again and falling edge, target
changes the direction to backward and repeats step (1), if origin signal is entered,
origin is determined.
※ During homing, if external input upper or lower limit is entered, object changes direction
promptly without deceleration section. When stepping motor is used, this may cause out of
operation. So be careful.

• If ‘On’ time of origin input signal is very short, XGB may not recognize the input signal. So
‘On’ time of origin should be larger than 0.2ms.

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Chapter 3 Before positioning

(3) Origin detection after deceleration with DOG set “On”

Operations by home return instruction using DOG and origin signal are as follows.

(a) If homing command(ORG instruction) is executed, it accelerates toward a set home direction
and operates at home high speed.
(b) At the moment, if an external entry, DOG signal is entered, it decelerates and operates at
home return low speed.
(c) Origin is determined and it stops if it meets an external entry, origin signal with DOG set “On”
while it operates at home return low speed.

Remark

•Origin is determined if origin signal is entered with DOG set “On” as long as home return
speed is operating at low speed from high speed via decelerating section with DOG signal set
“On”. That is, when home return speed is decelerating, origin is not determined by origin
signal.
• If it meets external upper/lower limit signal prior to origin after DOG signal is changed from
“Off” to “On”, it works backward direction.

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Chapter 3 Before positioning

(4) Origin detection by DOG

It is used when determining origin by using the only DOG.

(a) If homing command (ORG instruction) is executed, it accelerates to home direction set in
Home Parameter and it homes with high speed.
(The above figure is example when homing direction is forward)
(b) While target is homing with high speed, if rising edge of DOG occurs, target speed
decreases and change its direction.
(c) When it accelerates after changing direction, if rising edge of DOG occurs, it homes with low
speed.
(d) In the homing status with low speed, rising edge occurs of DOG third time, it stops and
determines the origin.
(e) When ‘On’ time of DOG signal is larger decreasing time, it changes the direction at the falling
edge of DOG and moves with low speed and stops at the rising edge of DOG and
determines the origin.

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Chapter 3 Before positioning

3.1.10 Position and speed override

• Override means changing target address or speed without stop during positioning.
The XGB positioning provides three type of override, position override, speed override, speed
override with position.

(1) Position override

If changing a target position during positioning operation with positioning data, it may be changed
by using position override command (POR instruction).

• When using position override, be careful the followings.

(a) That is, if passing a position to change during operation, it decelerates, stops and keeps
positioning operation by the subsequent operation pattern; if not passing a position, it starts
positioning operation as taking a Incremental position as much as override set in the start point
of the step of position override instruction.

(Ex.) It assumes that current location is 20,000 and operation data is specified as table below.
(It assumes that position override amount is 15,000)

Step Contr Metho Rep Address M Speed Dwell

Coord. Pattern A/D No.
no. ol d step [Pulse] Code [pls/s] [㎳]
3 ABS END POS SIN 0 40,000 0 0 500 100

1) If operation step 3 starts, target moves to 40,000 by absolute coordinates forward.

2) If override is executed at the time current position is 30,000 during operation, since it doesn’t
pass 15,000 based on operation start point 20,000 target position changes 35000
(20,000+15,000).
3) If override is executed at the time current position is 38,000 during operation, since it passes
15,000 based on operation start point 20,000, target speed decreases and stops.
(b) Position override command is available in the ACC., KEEP, DEC. section among operation
pattern. If position override command is executed during dwell, error code 362 occurs.
(c) In case operation pattern is set as CONT, override is executed based on start position of
operation step used at this time.
(d) Position override ranges –2,147,483,648 ∼ 2,147,483,647 Pulse.

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Chapter 3 Before positioning

(2) Speed override

While positioning by operation data, it is used to change operation speed by speed override
command (SOR instruction).

• Speed override command is available during acceleration, constant speed operation section and
executing speed override instruction in deceleration section during operation or dwell section may
cause Error 377 but the operation continues.
• Speed override setting ranges 1~100,000pps (setting unit: 1pps).

Remark

• Note that if a sudden difference between the current speed used for operation and a new
speed newly changed by speed override is excessive, it may cause a Step-over.
• During speed override, if target speed is smaller than bias speed. it will be operate by bias
speed.

(3) Speed override with position

Positioning speed override instruction changes its speed and keeps operating once it reaches the
set position during positioning operation by using speed override with position (PSO instruction).

• Positioning speed override instruction is available only in acceleration and regular speed
sections among operation patterns while the available operation modes are end operation,
continuous operation and sequential operation.

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Chapter 3 Before positioning

3.1.11 Positioning stop signal

(1) Stop instruction and stop factors

• Stop instructions and factors are summarized as follows and divided into individual stop and
concurrent stop.
Individual axis stop instructions or the stop factors affect the only axis (axes) of which stop instruction
is “On” or stop factor exists. However, interpolation control operation axis stops if an axis is with stop
instruction or stop factor during linear/circular interpolation.

Axis operation
Operation status Positioning M code ”On”
*1 Home *2 Jog operation status after stop
Stop factor Signal status
instruction *3

Excess of soft Immediate Not Immediate Error status

Stop by No change
upper limit stop detected stop (Error 501)
parameter
*4 Excess of soft Immediate Not Immediate Error status
setting No change
lower limit stop detected stop (Error 502)

Dec. stop Error 322

Dec. stop Dec. stop Decelerating No change
Stop by instruction (keep running)
sequence
Error status
*5 Emergency stop
program Immediate stop (Error 481) Off
instruction
No output

Forward
External upper Error status
Immediate stop immediate *6 No change
limit “On” (Error 492)
Stop by stop
external signal Backward
External lower Error status
Immediate stop immediate *6 No change
limit “On” (Error 493)
stop

Stop by
Dec. stop Immediate Immediate Error 322
monitoring Stopping No change
instruction stop stop (keep running)
package

Remark
*1: Positioning refers to position control, speed control, position/speed switching control and
speed/position switching position by positioning data.
*2: If Home Return is complete, DOG and Home Signal, which are external input signals, do not affect
positioning control.
*3: If axial operation is ‘no output’ after being stopped, run a instruction to cancel ‘No Output’. Then,
No output is cancelled and error number is reset.
*4: Soft upper/lower limits by parameters are unavailable in speed control operation mode.
*5: Sequence program refers to XGB program method.
*6: Error 495 may occur depending on a rotation direction.

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Chapter 3 Before positioning

(2) Stop Process and Priority

(a) Stop Process

• Since positioning operation is not complete if it stops due to deceleration stop instruction, After
Mode among M code modes is not “On” because it does not generate positioning completion
signal.
• After then, if indirect start instruction (step number = current step number) is generated,
Absolute method operation operates as much as the remaining distance of the current operation
step yet output while Incremental method operation operates as much as the target distance.

(b) Process of emergency stop and external input upper/lower limits

• If emergency stop instruction or external input upper/lower limits are input during positioning
control, it stops positioning control and turns ‘No output’, generating an error.

(c) Stop process priority

The priority of positioning module stop process is as follows.
Decelerating stop < Immediate stop

Remark

• In case of any immediate stop factor during decelerating stop, it processes as follow.

• Immediate stop factors: ①internal emergency stop, ②external input upper/lower limit, ③
Soft upper/lower limits

(d) Interpolation stop

• It decelerates and stops if it meets a stop instruction during interpolation operation.
• If indirect start instruction is executed in the current step when re-starting after decelerating stop,
it resumes operating the positioning operation data to the target position. At the moment, it
operates differently depending on absolute coordinate and Incremental coordinate.

(e) Emergency stop

• It immediately stops if meeting emergency stop while performing start-related instructions
(indirect start, direct start, concurrent start, synchronic start, linear interpolation start, Home
Return start, jog start and inching start).
• Internal emergency stop generates Error 481.
• Since it is subject to no output and un-defined origin once emergency stop is executed, it may run

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Chapter 3 Before positioning

positioning operation after executing origin determination (Home Return, floating origin and the
current position preset) in case it is operated with absolute coordinate or in determined origin.

3.1.12 Manual operation

In general, manual operations refer to jog operation, inching operation which don’t use operation data.

(1) Jog operation

• Jog operation means positioning by jog operation stat contact point or positioning monitoring
package.

Jog high speed/low

Classification Jog forward start Jog backward start
speed
XBM/XBC K4291 K4292 K4293
X axis
XEC %KX6865 %KX6866 %KX6867
XBM/XBC K4391 K4392 K4393
Y axis
XEC %KX7025 %KX7026 %KX7027

• It is operated by jog speed set in positioning parameter.

• It can be executed when origin is not determined.
• Acceleration/deceleration process is controlled by the duration set in jog acceleration/deceleration
time among parameter settings of this software package.
• If jog speed is set out of allowable range, it generates an error and operation is not available

High speed jog

1 ∼ 100,000
operation
Range (Unit: 1pps)
Low speed jog
1 ∼ jog high speed
operation

Remark

• Make sure to follow the cautions

Bias speed ≤ Jog high speed ≤ Speed limit

(2) Inching operation

• As one of manual operations, it outputs as much as pulse set at the speed for origin/manual
parameter inching speed.
• While operation by jog instruction may not exactly move to the start/end points, inching instruction
may easily reach to a target point as much as desirable distance. Therefore, it is probable to move
close to an operation position by jog instruction and then move to an exact target position by
inching operation instruction.
• The available range is between –2,147,483,648 ∼ 2,147,483,647 Pulse.

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Chapter 3 Before positioning

3.1.13 Stroke Upper/Lower Limits

Positioning is subject to external input stroke limit (external input upper limit, external input lower limit)
and software stroke limit (software upper limit, software lower limit).

(1) External input stroke upper/lower limits

• External input stroke limit is an external input connector of positioning; external input upper
limit/external input lower limit.
• It is used to immediately stop a positioning module before reaching to stroke limit/stroke end by
setting up stroke limits of positioning module inside stroke limit/stroke end of drives. At the moment,
if exceeding upper limit, it generates Error 492 while if exceeding lower limit, it generates Error 493.

• Note that positioning operation is not available if it stops out of positioning range.
If it stops due to external input stroke limit detection, move it into the controllable range of
positioning by manual operation (jog operation, inching operation, manual pulse generator
operation).
• External input stroke upper/lower limit error is detected by edge during positioning, so manual
operation is available although it exceeds stroke range.

(2) Stroke upper/lower limits

• Stroke upper/lower limit function does not execute positioning operation if it is operated out of ranges
of stroke upper/lower limits, which are set in positioning parameters.
• When it starts operation or is in operation, stroke upper/lower limits are checked.

Remark
• Software stroke upper/lower limits are not detected unless origin is determined.

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Chapter 3 Before positioning

3.1.14 Output of positioning completion signal

• Regarding positioning completion output time, the completion signal(X axis: 4202, %KX6722, Y
axis: K4302, %KX6882) is on and it turns off after ‘on’ is maintained as much as 1 scan time after
positioning is completed during single operation, repeat operation, continuous operation, sequential
operation, linear interpolation operation, speed/position switching operation (with position indicated
during constant speed operation) and inching operation.
• In case operation pattern is KEEP or CONT, positioning completion signal is yielded when
operation pattern stops completely.

• The operations in single operation mode are as follows.

• The operations in continuous mode are as follows.

• The operations in sequential operation mode are as follows.

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Chapter 3 Before positioning

3.2 Positioning Parameter

It describes positioning parameter and operation data setting.

3.2.1 Positioning parameter setting sequence

• Positioning parameter can be set more than V1.2 (high end type can be set more than XG5000
V2.2) and it has the following sequence. (This manual is described by using XG5000 V2.2.)

(1) Opening parameter setting window

• Select [Parameter] -> [Embedded Parameter] -> [Positioning] and double-click to open
positioning parameter setting window.
(If project is not displayed, press [View] -> [Project Window] to open project window [shortcut key:
ALT + 1])

< Positioning parameter setting window >

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Chapter 3 Before positioning

(2) Setting parameter

• Positioning parameter setting window is classified into basic parameter and Home parameter.
• Each item can be set independently.
• For detail setting of basic parameter, refer to 3.2.3.
• For detail setting of Home parameter, refer to 3.2.4.

Type Item Description

Positioning Set whether to use positioning function.

Pulse output level Set pulse output mode (Low/High Active).

Bias speed Set the initial start speed for early operation.

Speed limit Set the max speed settable in positioning operation.

ACC/DEC No.1 Time setting of ACC/DEC section No.1

ACC/DEC No.2 Time setting of ACC/DEC section No.2

ACC/DEC No.3 Time setting of ACC/DEC section No.3

ACC/DEC No.4 Time setting of ACC/DEC section No.4

Basic parameters
S/W upper limit Set upper limit within a machine’s operation range

S/W lower limit Set lower limit within a machine’s operation range

Backlash compensation Set compensation amount of tolerance in which a machine is not operated due

amount to wear when rotation direction is changed.

S/W upper/lower limits

Set whether to detect or not S/W upper/lower limits during constant speed
during constant speed
operation
operation

Use upper/lower limits Use or not

Home Return method Set home return method

Home Return direction Set home return direction

Origin address Set origin address

Origin compensation amount Set origin compensation amount

Home Return high speed Set high speed for home return

Home Return low speed Set low speed for home return

Home Return accelerating

Set accelerating time for home return
time
Origin/Manual
Home Return decelerating
parameters Set decelerating time for home return
time

Set a time required to remove remaining bias counter immediately after

Dwell time
positioning ends

Jog high speed Set high speed for jog operation

Jog low speed Set low speed for jog operation

Jog accelerating time Set accelerating time for jog operation

Jog decelerating time Set decelerating time for jog operation

Inching speed Set speed for inching operation

< Positioning parameter setting item >
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Chapter 3 Before positioning

(3) Operation data setting

• If the user select ‘X Axis Data’ or ‘Y Axis Data’ tap on the positioning parameter setting window,
the user can set operation data of 30 steps as show below.
• Standard type can set up to 30 steps, high-end type can set up to 80 steps.

< Position operation data setting window >

•Items of operation data is as table below.

•For detail of operation data, refer to 3.3.

Item Description Initial value

Coord. Setting Cood. of each step (ABS/INC) ABS
Pattern Setting operation pattern of each step (END/KEEP/CONT) END
Control Setting control method of each step (POS/SPD) POS
Method Setting operation method of each step (SIN/REP) SIN
REP step In case of repeated operation, setting the next step no. 0
Address Setting target address of each step 0[Pulse]
In case of using M code, number indicated when M code
M Code occurred 0
(In case of setting as 0, M code function is not used)
A/D No. Setting A/D no. of each step No.1
Speed Operation speed of each step 0[pps]
After ending step, time necessary to remove remaining pulse of
Dwell 0[㎳]
offset counter

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Chapter 3 Before positioning

(4) Writing to PLC

•After setting of positioning parameter and operation data per each axis, download them to PLC
•Selecting [Online] -> [Write], ‘Write’ dialog box is displayed.
In order to download parameter, select ‘Parameter’ and click ‘OK’.

Remark

• If XG5000 is not connected with PLC, ‘Write’ menu is not activated. In case of this, select
[Online] -> [Connect] to connect with PLC.
• When PLC is RUN mode, comment is available to download so only comment is displayed
in the ‘Write’ dialog box. At this time, change PLC’s mode to STOP and retry it.

• If downloading parameter, basic parameter, I/O parameter, built-in parameter is transmitted.

• The downloaded positioning parameter is applied when turning on the power or changing
operation mode. For more detail, refer to 3.2.2.

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Chapter 3 Before positioning

3.2.2 Relationship between positioning parameter and dedicated K area

XGB built-in positioning function executes the positioning control by using parameter and K area
dedicated for positioning. Here describes relationship between positioning parameter and K area.
Internal memory configuration related with XGB built-in positioning is as follows.

< Relationship between positioning parameter and K area >

•XGB has a built-in parameter area to save operation data and parameter written in the XG5000 and
a dedicated K area for use of real positioning operation.
•If writing the embedded positioning parameter and operation data, the downloaded data is saved in
the built-in parameter area permanently. And in case of reading, it reads built-in parameter area.
•XGB executes the initialization by copying the parameter and operation data saved in the built-in
parameter area to K area dedicated for positioning.
(1) In case of restarting after power cut
(2) In case of changing PLC operation mode
(3) In case of restarting PLC by reset command
•XGB built-in positioning is executed by using data of K area and Flags that indicate the current
operation status and monitoring data are displayed in the K area. So the user can change operation
data easily by changing the K area data
•In order to preserve the current K area data, K area data should be applied to built-in parameter
area by using application command (WRT command)
•For detail list of K area, refer to A2.2.

Remark

•After changing K area and not using WRT instruction, if restarting after power cut or
changing PLC operation mode, K area is initialized.
•For more detail of WRT instruction, refer to 5.2.21.

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Chapter 3 Before positioning

3.2.3 Setting basic positioning parameters

It describes the range of setting basic parameters and special K area for positioning.

K area for positioning

X-axis Y-axis
Item Range Initial value Data size
XBM/XBC XBM/XBC
XEC XEC
K4870 K5270
Positioning 0: No use, 1 : use 0 Bit
%KX7792 %KX8432
Pulse output 0 : Low Active, K4871 K5271
0 Bit
level 1 : High Active %KX7793 %KX8433
Pulse output 0 : CW/CCW K4873 K5273
0 Bit
mode 1 : PLS/DIR %KX7795 %KX8435
M code output 0 : NONE, 1 : WITH K4681-2 K5081-2
0 Bit
mode 2 : AFTER %KX7489-90 %KX8129-30
K450 K490 Double
Bias speed 1 ∼ 100,000[pulse/ sec] 1
%KD225 %KD245 word
K452 K492 Double
Speed limit 1 ∼ 100,000[pulse/ sec] 100,000
%KD226 %KD246 word
K454 K494
ACC time 1 0 ~ 10,000[unit: ms] 500 word
%KW454 %KW494
DEC time 1 K455 K495
0 ~ 10,000[unit: ms] 500 word
%KW455 %KW495
ACC time 2 K456 K496
0 ~ 10,000[unit: ms] 1,000 word
%KW456 %KW496
DEC time 2 K457 K497
0 ~ 10,000[unit: ms] 1,000 word
%KW457 %KW497
K458 K498
ACC time 3 0 ~ 10,000[unit: ms] 1,500 word
%KW458 %KW498
DEC time 3 K459 K499
0 ~ 10,000[unit: ms] 1,500 word
%KW459 %KW499
ACC time 4 K460 K500
0 ~ 10,000[unit: ms] 2,000 word
%KW460 %KW500
DEC time 4 K461 K501
0 ~ 10,000[unit: ms] 2,000 word
%KW461 %KW501
-2,147,483,648 ∼ K462 K502 Double
S/W upper limit 2,147,483,647
2,147,483,647 [pulse] %KD231 %KD251 word
-2,147,483,648 ∼ K464 K504 Double
S/W lower limit -2,147,483,648
2,147,483,647 [pulse] %KD232 %KD252 word
Backlash K466 K506
0 ∼ 65,535[pulse] 0 word
Compensation %KW466 %KW506
K4684 K5084
S/W Limit Detect 0 : No detect1 : detect 0 Bit
%KX7492 %KX8132
Upper/lower K4872 K5272
0: no use, 1: use 1 Bit
limits %KX7794 %KX8434

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Chapter 3 Before positioning

(1) Positioning
•Determine whether to use positioning.
• If not using positioning function, set it ‘0: no use’ while for use, it should be set to ‘1: use’.
• If setting it as ‘1:use’, though it doesn’t execute the instruction related with positioning, it is
controlled by positioning.
So in this case, though the user turns on this contact point by other application instruction, only
output image data of XG5000 monitoring window is on and real output contact point doesn’t turn
on.

Remark

• Make sure to set it ‘1: use’ to use positioning.

If using the instruction related with positioning when it is set as ‘0: no use”, error code 105
occurs.

(2) Pulse output level

•For pulse output level, select either of ‘Low Active output’ or ‘High Active output’.
•For Low Active output, set as 0, for High Active output, set as 1.
•The following figure shows output pulse type in case of Low Active and High Active output based on
X axis. (in case of Y axis, pulse string output: P21, direction output: P23)

(3) Pulse output mode (For only high end type)

•XGB built-in positioning can select output mode as one between PLS/DIR mode and CW/CCW
mode.
•If you use CW/CCW mode, select 0. If you use PLS/DIR mode, select 1.
•About output pulse shape according to each pulse output mode, refer to ch.2.2.3.

(4) M code output mode (For only high end type)

•In case of using M code function, you can set output timing of M code.

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Chapter 3 Before positioning

•M code output mode set in the parameter is applied to all operation step of each axis.
•The user can select one M code output mode among three modes, NONE, WITH, AFTER.
According to each setting value, timing of M code output signal is as follows.

(a) NONE mode

•In case M code output mode is selected as NONE, though M code is set in operation data, M
code doesn’t occur like the following figure.
•If the user use this function, it can prohibit the M code function set per operation step,
simultaneously.

(b) WITH mode

• In case M code output mode is set as WITH, like the following figure, it outpus M code on signal
and M code number when each step runs.

< M code output timing in case of WITH mode >

(c) AFTER mode

• In case M code output mode is set as AFTER, like the following figure, if each operation of step
is completed, it outputs M code On signal and M code number.

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Chapter 3 Before positioning

< M code output timing in case of AFTER mode >

(5) Bias speed

• Considering that torque of stepping motor is unstable when its speed is almost equal to 0, the initial
speed is set during early operation in order to facilitate motor’s rotation and is used to save
positioning time. The speed set in the case is called ‘bias speed’.
• In case of XGB built-in positioning, setting range of bias speed is 0 ~ 100,000 (unit:pps).
• Bias speed may be used for
(1) Positioning operation by start instruction (IST,DST,SSTetc.)
(2) Home operation, JOG operation
(3) Main axis of interpolation operation(not available for sub axis)

< Operation when setting bias speed >

• The figure above shows operation when setting bias speed.

The entire operation time may be advantageously reduced if bias speed is highly set, but
excessive value may cause impact sound at the start/end time and unreasonable operation on a
machine.

• Bias speed should be set within the following range.

(a) Bias speed ≤ Positioning speed
(b) Bias speed ≤ Home Return low speed ≤ Home Return high speed

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Chapter 3 Before positioning

(c) Bias speed ≤ JOG high speed

Æ (If home return speed is set lower than bias speed, it generates Error 133; if operation
speed is set lower than bias speed during positioning, it generates Error 153; if JOG high
speed is set lower than bias speed, it generates Error 121.)

(6) Speed limit

• It refers to the allowable max speed of positioning operation.
• In Pulse unit, the range is between 1 ∼ 1,000,000(unit: pps).
• During position operation, operation speed, home return speed and jog operation speed are
affected by speed limit, and if they are set higher than speed limit, it detects error.
(1) If home return speed is higher than speed limit : Error 133
(2) If positioning speed is higher than speed limit : Error 152
(3) If jog operation speed is higher than speed limit : Error 121

(7) ACC/DEC time

• It is applied to sequential operation instruction, speed override, positioning speed override during
positioning operation as well as start/end time of positioning operation. At this time, ACC and DEC
time is defined as shown below.
(a) ACC time: a duration required to reach from “0(stop)” speed to the speed limit set in parameter.
Using bias would be a time consumed to reach from bias speed set to the speed
limit set in parameter.
(b) DEC time: a duration required to reach from the speed limit set in parameter up to “0”(stop)
speed.
Using bias would be a time consumed to reach from bias speed set to the speed
limit set in parameter.

• The range is between 0 ∼ 10,000 (unit: 1 ㎳) per axis.

• ACC/DEC time is set with 4 types and it can be set differently according to each operation data.

(8) S/W Upper/Lower Limit

• A range of a machine’s move is called ‘stroke limit’, and it sets the upper/lower limits of stroke into
software upper limit and software lower limit and does not execute positioning if it operates out of
ranges set in the above.
Therefore, it is used to prevent against out-of-range of upper/lower limits resulting from incorrect
positioning address or malfunction by program error and it needs installing emergency stop limit
switch close to a machine’s stroke limit.
•Except S/W upper limit and lower limit, install limit switch for emergency stop near stroke limit of
machine.

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Chapter 3 Before positioning

• Range of S/W upper limit and lower limit is checked when starting positioning and operating.
• If an error is detected by setting software upper/lower limits(software upper limit error: 501,
software lower limit error: 502), pulse output of positioning module is prohibited.
Therefore, to resume operation after an error is detected, it is prerequisite to cancel ‘No output’.
(No output status is displayed at K4205(%KX6725), for X axis and K4305(%KX6885) for Y axis.

• It can be set according to each axis and range is as follows.

- S/W upper limit address value range: -2,147,483,648 ∼ 2,147,483,647 (unit: Pulse)
- S/W lower limit address value range: -2,147,483,648 ∼ 2,147,483,647 (unit: Pulse)

(9) Backlash Compensation Amount

• A tolerance that a machine does not operate due to wear when its rotation direction is changed if it
is moving with motor axis combined with gear and screw is called ‘backlash’.
• Therefore, when changing a rotation direction, it should output by adding backlash compensation
amount to positioning amount.
• The range is between 0 ∼ 65,535(unit: Pulse) per axis.
• It is available for positioning operation, inching operation and jog operation

• Backlash compensation outputs backlash compensation amount first and then, address of
positioning operation, inching operation and jog operation move to the target positions. (At this time,
output as many as backlash amount is not added to the current position address.)

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Chapter 3 Before positioning

• The above figure describes difference of backlash setting or no backlash setting.

In case of not setting backlash compensation amount, it moves as many as 100,000 pulse forward
and changes the direction and moves backward as many as 100,000 pulse. It may cause error by
backlash. For example, it assumes that backlash is 500 pulse, in case of not setting backlash, final
stop location is 500. To compensate this, setting backlash compensation as 500, when changing
the direction, 100,500 pulse is yielded adding 500 pulse set as backlash compensation amount. So
target stops at the precise stop position.
• The following table indicates real pulse output and stop position in case of setting backlash.
(Absolute coordinates is used.)

Operation Backlash setting Target Direction Real output Stop

step amount address conversion pulse positio
1 10,000 X 10,000 10,000
2 500 30,000 X 20,000 30,000
3 0 ○ -30,500 0

Remark

• Once backlash compensation amount is set or changed, home return should be executed
otherwise there can be error at the current position by backlash compensation amount.

(10) S/W upper/lower limits during constant speed operation

• It is used to stop pulse output by S/W upper/lower limit detection during constant speed operation by
speed control.

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Chapter 3 Before positioning

• In the case, S/W upper/lower limit detection is available as long as origin is set and the position
mark during constant speed operation is “Mark”
(11) Use of Upper/Lower Limits
• To use upper/lower limits during operation, it should be set as “Use”.
• Upper/Lower limit input contact point is fixed as the table below and it can be used as normally
closed contact point (B contact point).
• If ‘No use’ is set, it does not detect upper/lower limits and is available with general input contact.
Signal Input contact point number
Operation content Reference
name Standard High end
External Detects the X axis external lower limit
X axis P0000 P0008
low limit at the rising edge of input contact point
Acts as
signal Detects the Y axis external lower limit normally
(LimitL) Y axis P0002 P000A closed
at the rising edge of input contact point.
contact point
External Detects the X axis external upper limit (B contact
X axis P0001 P0009
upper limit at the rising edge of input contact point. point)
signal Detects the Y axis external upper limit
(LimitH) Y axis P0003 P0008
at the rising edge of input contact point.

3.2.4 Origin/Manual Parameter Setting for Positioning

Here describes setting range, method of origin/manual parameter for positioning, and special K area
for positioning corresponding to each item. They are summarized as the table below.

Dedicated
K area
Initial
Item Setting range X axis Y axis Data size
value
XBM/XBC XBM/XBC
XEC XEC
0 : origin detection after DOG off
Home Return 1 : origin detection after deceleration K4780-81 K5180-81
0 2 Bit
method when DOG is On %KX7648-49 %KX8288-89
2 : origin detection by DOG
Home Return K4782 K5182
0 : forward, 1 : backward 1 Bit
direction %KX7650 %KX8290
K469 K509
Origin address -2,147,483,648∼2,147,483,647[pulse] 0 Double word
%KD234 %KD254
Home Return high K471 K511
1 ∼ 100,000[pulse/s] 5,000 Double word
speed %KD235 %KD255
Home Return low K473 K513
1 ∼ 100,000[pulse/s] 500 Double word
speed %KD236 %KD256
Home Return ACC K475 K515
0 ~ 10,000[unit: ms] 1,000 Word
time %KW475 %KW515
Home Return DEC K476 K516
0 ~ 10,000[unit: ms] 1,000 Word
time %KW476 %KW516
K477 K517
Dwell time 0 ~ 50,000[unit: ms] 0 Word
%KW477 %KW517
K479 K519
Jog high speed 1 ∼ 100,000[pulse/s] 5,000 Double word
%KD239 %KD259
K481 K521
Jog low speed 1 ∼ 100,000[pulse/s] 1,000 Double word
%KD240 %KD260
K483 K523
Jog ACC time 0 ~ 10,000[unit: ms] 1,000 Word
%KW483 %KW523
K484 K524
Jog DEC time 0 ~ 10,000[unit :ms] 1,000 Word
%KW484 %KW524
K485 K525
Inching speed 1 ∼ 65,535[pulse/s] 100 Word
%KW485 %KW525

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Chapter 3 Before positioning

(1) Home Return method

• There are three home return methods as follows.
a) DOG/Origin(Off) :
-If origin signal is inputted, it detects the origin signal after DOG changes On -> Off.
b) DOG/Origin(On) : When DOG is on, it detects the origin after deceleration
-If DOG signal is on and origin signal is inputted after deceleration, it detects the origin.
c) DOG :
-It detects the origin by using DOG signal.
• For more detail of home return method, refer to 3.1.9.

(2) Home Return direction

• Home Return direction is divided into CW(forward) and CCW(backward) depending on pulse output
direction.

Setting Home Return

Pulse output operation of XGB positioning module
value direction
0 Forward Executing forward home return.
1 Backward Executing backward home return.

(3) Origin address

• It is used to change the current address to a value set in home return address when home return is
completed by home return instruction.
• setting range: -2,147,483,648 ∼ 2,147,483,647 (unit: Pulse)

(4) Home Return high speed

• As a speed when it returns home by home return instruction, it is divided into high speed and low
speed.
• It refers to a speed operating in regular speed section via accelerating section by home return
instruction.
• The range of home return high speed is between 1 ∼ 100,000(unit: pps)

(5) Home Return low speed

• It refers to a speed operating in regular speed section via decelerating section from home return
high speed by home return instruction.
• The range of home return low speed is between 1 ∼ 100,000(unit: pps)

Remark

• When setting home return speed, it should be “speed limit ≥ home return high speed ≥ home
return low speed”.
• It is recommended to set home return low speed as low as possible when setting home return
speed. Origin signal detection may be inaccurate if low speed is set too fast.

(6) Home Return ACC/DEC time

• When it returns home by home return instruction, it returns home at the speed of home return high
speed and home return low speed by ACC/DEC time.
• The range of home return ACC/DEC time is between 0 ∼ 10,000(unit: 1 ㎳).

(7) Dwell time

• It sets Dwell time applied to Home Return
• Dwell time is necessary to maintain precise stop of servo motor when positioning by using a servo
motor.
• The actual duration necessary to remove remaining pulse of bias counter after positioning ends is
called ‘dwell time’.

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Chapter 3 Before positioning

• The range of home return dwell time is between 0 ∼ 50,000 (unit: 1 ㎳)

(8) JOG high speed

• Jog speed is about jog operation, one of manual operations and is divided into jog low speed
operation and jog high speed operation.
• Jog high speed operation is operated by patterns with accelerating, regular speed and decelerating
sections. Therefore, job is controlled by ACC/DEC instruction in accelerating section and
decelerating section.
• The range of jog high speed is between 1 ∼ 100,000(unit: 1pps)

(9) JOG low speed

• Jog low speed operation is operated with patterns of accelerating, regular speed and decelerating
sections.
• The range of jog low speed is between 1 ∼ 100,000 (unit: 1pps)

Remark

• When setting JOG high speed, it should be “Speed limit ≥ JOG high speed ≥ Bias speed”.
• When setting JOG low speed, it should be smaller than JOG high speed.

(10) JOG ACC/DEC time

• It refers to JOG ACC/DEC time during jog high/low speed operation.
• The range of JOG ACC/DEC time is between 0 ∼ 10,000 (unit: 1 ㎳)

(11) Inching speed

• The inching operation speed is set.
• The range of inching speed is between 1 ∼ 65,535 (unit: 1pps)
• For detail of inching operation, refer to 3.1.12.

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Chapter 3 Before positioning

3.3 Positioning Operation Data

It describes operation data for XGB positioning. If the user select ‘X axis data’ or ‘Y axis data’ tap in the
positioning parameter setting window, the following figure is displayed. Each axis can have 30~80
(standard type: 30 steps, compact stand/high-end type: 80steps) steps of operation data.

Each of item can have a following data.

Initial Device area
Step Item Range Remarks
values X-axis Y-axis
K5384 K8384
Coord. 0 : ABS, 1 : Incremental ABS Bit
%KX8612 %KX13412
0 : end, 1 : continuous, 2 : K5382~3 K8382~3
Pattern End Bit
sequential %KX8610-11 %KX13410-11
0 : position control, 1 : speed K5381 K8381
Control Position Bit
control %KX8609 %KX13409
K5380 K8380
Method 0: single, 1 : repeat Single Bit
%KX8608 %KX13408
K539 K839
REP 0~30(High end 0~80) 0 Word
%KW539 %KW839
1
-2,147,483,648 ∼ 2,147,483,647 K530 K830 Double
Address(pulse) 0
[pulse] %KD265 %KD415 word
K537 K837
M Code 0 ~ 65,535 0 Word
%KW539 %KW837
K5386-87 K8386-87
A/D No. 0 : No.1, 1 : No.1, 2 : No.3 3 : No.4 0 Bit
%KX8614-15 %KX13414-15
K534 K834 Double
Speed 1 ∼ 100,000[pulse/sec] 0
%KD267 %KD417 word
K536 K836
Dwell time 0 ~ 50,000[unit: ㎳] 0 Word
%KW536 %KW836
K540~549 K840~849
2 Same item with No.1 step
%KW540~549 %KW840~849
K550~829 K850~1129
3~30 Same item with No.1 step
%KW550~829 %KW850~1129
K2340~2349 K2840~2849
31 Same item with No.1 step Only for
%KW2340~2349 %KW2840~2849
K2350~2839 K2850~3339 high end
32~80 Same item with No.1 step
%KW2350~2839 %KW2850~3339 type

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Chapter 3 Before positioning

(1) Step number

• The range of positioning data serial number is between 1 ~ 30.
(compact standard/high-end type is 1~80)
• When executing indirect start, simultaneous start, linear interpolation operation, position
synchronization and etc., if you designates the step number of data to operate, it operates
according to positioning dedicated K area where operation data is saved.
• If step number is set as 0, operation step indicated at the current step number (X axis:
K426(%KW426), Y axis: K436(%KW436)) of positioning monitor flag is operated.

Remark

• The user can use variable of dedicated K area per each step easily by using Register U
Device. For detail of monitor registration of positioning, refer to XG5000 user manual.

(2) Coordinates
• Here sets the coordinates method of relevant operation step data.
• Coordinates methods selectable are absolute coordinate and Incremental coordinate.
• For more detail, refer to 3.1.2.

(3) Operation pattern (END/KEEP/CONT) and operation method (SIN/REP)

• The user can select one pattern among three operation patterns per step. It can configure how to
use the positioning operation data.
• Operation pattern can be set as follows according to Control and Method on the operation data.

Control Method Pattern Reference

END
SIN KEEP
CONT Linear interpolation is not available
POS
END
REP KEEP
CONT Linear interpolation is not available
END Linear interpolation is not available
SIN KEEP Linear interpolation is not available
CONT Not available
SPD
END Linear interpolation is not available
REP KEEP Linear interpolation is not available
CONT Not available

• In case Method is set as SIN, the next operation step become ‘current operation step + 1’. And in
case Method is set as REP, the next operation step become the step set in REP Step.

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Chapter 3 Before positioning

(a) END (SIN)

• It refers to execute the positioning to target address by using the data of operation step and
complete the positioning after dwell time.

• Generally with END operation, position operation is executed according to pre-arranged speed and
position like above picture as ladder shape with accelerated, constant, and decelerated intervals.
However depending on position and speed settings, special shapes besides a ladder can be
witnessed as below.

1) In case target address is far less than speed, it can’t pass the acceleration - regular speed –
deceleration section. In this case, the positioning is complete without regular speed section.
2) In case operation speed is same with bias speed, target moves with regular speed (bias
speed) and it stops without deceleration section.

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Chapter 3 Before positioning

• It assumes that operation data is as follows to describe END/SIN operation.

Step Coord Contr Metho REP Address M A/D Speed

Pattern Dwell [㎳]
no. . ol d Step [Pulse] code No. [pls/s]
1 ABS END POS SIN 0 10,000 0 1 1,000 100
2 ABS END POS SIN 0 20,000 0 1 500 100
3 ABS END POS SIN 0 30,000 0 1 1,000 100

• In the above table, operation pattern is set as END, target moves once by once start command
and since Method is set as SIN, the next step becomes ‘current operation step + 1’.
• To operate the next step, one more start command is necessary.

(b) END operation (Repetition)

• In case END operation (repetition), operation of currently started operation is same with END
operation (single).
But, The next step becomes the step set in the REP Step, which is different with END operation
(single).
• It assumes that operation data is set as follows to describe END/Repetition.

Step Coord Contr Metho REP Address M A/D Speed

Pattern Dwell [㎳]
No. . ol d Step [Pulse] code No. [pls/s]
1 ABS END POS SIN 0 10,000 0 1 1,000 100
2 ABS END POS REP 1 20,000 0 1 500 100
3 ABS END POS SIN 0 30,000 0 1 1,000 100

1) By first start command, target moves to 10,000 pulse with 1,000pps speed and stops. At this
time, since Method is SIN, the next operation step becomes the no.2 step, current operation
step +1.
2) By second start command, target moves to 20,000 with 500pps and stops. At this time,
Method is REP, the next operation step becomes no.1 step set in REP Step, not no.3 step.
3) If third start command is inputted, target moves to 10,000 ABS coordinates with 1,000 pps.
4) Like this, no.1 step and no.2 step are repeated whenever start command is executed so no.3
step is not operated.

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Chapter 3 Before positioning

Remark

•If the operation mode is set as single, set the operating step number in the IST at 0, then the
step specified in the current step number (axis X: K426(%KW426), axis Y: K436 (%KW436))
in area K for positioning.
•If the operation mode is set as Repeat and the Repeat step is set at 0, the step stops operating
and the next step changes into 0.
In this case, the operating step gets out of the range of 1~30 (1~80 for the compact
standard/high-end type) and error code 512 comes out, so be careful of the repeating step
setting when you set at the repeating operation.

(c) Continued Operation

•Continued operation refers to the operation which carried out positioning to the target position by
using the data of the corresponding operating step by the operation instruction and continues the
next operating steps without any additional operation instructions with the positioning not completed
after the dwell time.
•The next operating steps differ according to the current operating mode of the steps.
A) The operation mode of the current step is single: current operating step + 1
B) The operation mode of the current step is repetition: the step designated as Repeat in the current
operation step
•If you use the continued operation pattern, you can conduct the pattern operation that sequentially
carried out multiple operating steps with only one operation instruction.
•The continued operation can be explained with the operation data in the following table.

Coordina Operation Operation Repeatin Target position M Acc./Dec. Speed Dwell time
Step No. Control
tes pattern mode g step [Pulse] code No. [pls/s] [㎳]

1 Absolute Keep Position Single 0 10,000 0 0 1,000 100

2 Absolute Keep Position Single 0 20,000 0 0 500 100

3 Absolute End Position Single 0 30,000 0 1 1,000 0

4 Absolute End Position Repeat 1 40,000 0 1 500 0

1) Steps 1 and 2 are continued in the operation pattern and single in the operation mode, so they
operate at 1,000pps to the pulse of absolute coordinates 10,000 and then operates step 2, the
next step, without waiting for the next operation instruction when the dwell time passes. If the
dwell time passes after step 2, step 3 is operated.
2) Step 3, of which the operation pattern is end, operates up to absolute coordinates 30,000, and
then stops right away because the dwell time is 0, and the positioning completion bit turns on
for a scan.

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Chapter 3 Before positioning

3) Since the operation mode of step 3 is single, the next step is No. 4.
4) Step 4 has been set as end/repeat 1, it operates up to absolute coordinates 40,000 when step 4
operates by the second operation instruction, and stops without dwell time, and the next step
points at step 1 which has been designated as the Repeat step.
5) The operation pattern can be illustrated as follows.

(d) Incessant Operation

• Incessant operation refers to the operation that continues the steps set as continued operation by
the operation instruction.
• The continued operation can be explained with the operation data in the following table.

Coordina Operation Operation Repeatin Target position M Acc./Dec. Speed Dwell time
Step No. Control
tes pattern mode g step [Pulse] code No. [pls/s] [㎳]

1 INC Continuous Position Single 0 10,000 0 1 500 100

2 INC End Position Repeat 1 20,000 0 1 1,000 0

1) Since the operation pattern of step 1 has been set as continued, it operates up to the
incremental coordinates 10,000 pulse at 500pps by the first operation instruction, and changes
the operation speed to 1,000pps without deceleration or stop and continues to operate step 2.
2) Because the operation pattern of step 2 is end, it moves to incremental coordinates 20,000 and
the positioning ends after the dwell time.

Remark

• If the direction changes during the continued operation, error code 511 comes out and the
operation stops. If the direction has to change, change “Continuous” into “End” or “Keep”.

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Chapter 3 Before positioning

(4) Repeat Step

• Sets the step to repeat when the operation mode is set as Repeat.
• The setting range is 1~30 (1~80 for the compact standard/high-end type).

(5) Target Position

• Sets the movement of the operation of the step.
• The setting range is -2,147,483,648 ∼ 2,147,483,647 (unit: Pulse).
• The target position set in operation data setting can be freely changed in the program by changing
the value of area K for positioning.
• For the address of area K for positioning of each step number, see 2.2.

(6) M Code
• M code is for checking the current operation step or carrying out the auxiliary work such as tool
change, clamp, and drill rotation.
• In general, the output of M code divides into the ‘With’ mode, when M code is output with the step
operating, and the ‘After’ mode when M code is output after the step operation is completed.
For XGB built-in positioning, the standard type has only the After mode, and the advanced type has
all modes.
• For example, if M code output mode is set as the After mode, the positioning of the step is
completed and at the same time, the M code On signal (axis X: K4203(%KX6723), axis Y: K4303
(%KX6883)) is set and the M code number set in the M code item of the step operation data is
output in the M code output device (axis X: K428(%KW428), axis Y: K438(%KW438)).
• M code can be set differently for the operation steps of the positioning operation data. The setting
range is 1 ~ 65,535. If you don’t want to use M code function for the step, just set it at 0. If you don’t
want to use M code function for any step, set the M code output mode parameter as NONE.
• If there is the M code signal, you can reset it by using the M code Off instruction (MOF).
• If there is the M code signal, the operation differs depending on the current operation pattern.
(a) End: Stops with M code coming out. For operation of the next operation step, the M code should
be reset and the operation instruction should be executed.
(b) Continued: Enters the Stand-by status for operation of the next step with M code coming out.
For operation of the next operation step, if the M code is reset, the next operation step is
operated without additional operation instructions.
(c) Incessant: Does not stop and operates the next operation step although M code comes out. In
this case, M code Off instruction can be carried out even during operation.
• For example, the output timing of M code signals in case of After Mode can be illustrated as follows.

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Chapter 3 Before positioning

Remark

• With M code signal On, if you execute the next operation step number, error code 233 will
come out and the operation will not happen.
Therefore, for positioning of the next operation step number with M code signal “On,” you
must reset M code signal as M code Off instruction (MOF).

(7) Acceleration/Deceleration Numbers

• Sets the Acc./Dec. numbers to be used in the step during the acceleration/deceleration time set in
the basic positioning parameter.
• The setting range is 1~4.
• For details about the acceleration/deceleration time, see 3.2.3.

(8) Operation Speed

• Set the target speed at which to operate in the step.
• The setting range is 1 ~ 100,000 pulse (unit:1pps).
• The operation speed should be set higher than or equal to the bias speed set in the basic
positioning parameter, and lower than or equal to the speed limit.

(9) Dwell Time

• The dwell time to be applied to the operation step.
• The dwell time refers to the time needed to maintain the precise stop of the servo motor in
controlling the positioning by using the servo motor, and also the standby time given before the next
positioning operation when one positioning operation is finished.
• Especially when the servo motor is used, it might not reach the target position or stay excessive
even though the output of the positioning function has been stopped, so the dwell time is the data
that set the standby time until the stable rest.
• The operation status of the axis of the XGB positioning function during the dwell time maintains
“Operation,” and if the dwell time passes, the operation status signaling bit (axis X:
K4200(%KX6720), axis Y: K4300(%KX6880)) turns Off and the positioning completion signal turns
On.

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Chapter 3 Before positioning

3.4 Positioning Status Monitoring and Area K for Input and Output
The XGB built-in positioning function controls positioning by using area K for positioning and the
parameters. This Chapter describes area K for positioning.
For the relations between the XGB built-in positioning parameters and area K, see 3.2.2.
XGB built-in positioning area K divides into the bit flag, word, and double word flag. The flag in turn
divides into the status monitoring flag area (for read only) and the flag for instruction and command (for
read and write).

3.4.1 Status Monitoring and Flag for Positioning

This chapter describes the XGB built-in status monitoring flag for positioning (for read only).
The status monitoring flag divides into bit, word, and double word.

(1) Bit Area Flag

(a) XBM/XBC bit area flag
Device Area
Variables Axis X Axis Y Status
Word Bit Address Word Bit Address
In operation 0 K4200 0 K4300 0: stop, 1: operation
Error 1 K4201 1 K4301 0: no error, 1: error
Positioning
2 K4202 2 K4302 0: not completed, 1: completed
completed
M code signal 3 K4203 3 K4303 0:M code Off, 1:M code On
0: origin not decided, 1: origin
Origin settled 4 K4204 4 K4304
decided
No pulse output 5 K4205 5 K4305 0: output available, 1: no output
0: not stopped
Stopped 6 K4206 6 K4306
1: stopped
Upper limit detected 8 K4208 8 K4308 0: undetected, 1: detected
Lower limit detected 9 K4209 9 K4309 0: undetected, 1: detected
K420 K430
0: normal, 1: abnormally
Emergency stop A K420A A K430A
stopped
Normal/backward 0: normal direction, 1:
B K420B B K430B
rotation backward direction
Operation 0: not accelerated, 1:
C K420C C K430C
(acceleration) accelerated
Operation 0: not constant speed, 1:
D K420D D K430D
(constant speed) constant speed
Operation 0: not decelerated, 1:
E K420E E K430E
(deceleration) decelerated
0: not during dwell, 1: during
Operation (dwell) F K420F F K430F
dwell
Operation 0: position not controlled
0 K4210 0 K4310
(positioning) 1: position controlled
Operation 0: speed not controlled
1 K4211 1 K4311
(speed control) 1: speed controlled
Operation control
0: interpolation not controlled
(straight K421 2 K4212 K431 2 K4312
1: interpolation controlled
interpolation)
0: not returning to origin
Return to origin 5 K4215 5 K4315
1: returning to origin
Position 0: position not synchronized
6 K4216 6 K4316
synchronization 1: position synchronized

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Chapter 3 Before positioning

Speed 0: speed not synchronized

7 K4217 7 K4317
synchronization 1: speed synchronized
0: jog not at low speed
Jog low speed 8 K4218 8 K4318
1: jog at low speed
0: jog not at high speed
Jog high speed 9 K4219 9 K4319
1: jog at high speed
0:not during inching operation
Inching operation A K421A A K431A
1: during inching operation

(a) XEC bit area flag

Device area
Variables Axis X Axis Y Status
Address Address
In operation %KX6720 %KX6880 0: stop, 1: operation
Error %KX6721 %KX6881 0: no error, 1: error
Positioning
%KX6722 %KX6882 0: not completed, 1: completed
completed
M code signal %KX6723 %KX6883 0:M code Off, 1:M code On
Origin settled %KX6724 %KX6884 0: origin not decided, 1: origin decided
No pulse output %KX6725 %KX6885 0: output available, 1: no output
0: not stopped
Stopped %KX6726 %KX6886
1: stopped
Upper limit detected %KX6728 %KX6888 0: undetected, 1: detected
Lower limit detected %KX6729 %KX6889 0: undetected, 1: detected
Emergency stop %KX6730 %KX6890 0: normal, 1: abnormally stopped
Normal/backward 0: normal direction, 1: backward
%KX6731 %KX6891
rotation direction
Operation
%KX6732 %KX6892 0: not accelerated, 1: accelerated
(acceleration)
Operation 0: not constant speed, 1: constant
%KX6733 %KX6893
(constant speed) speed
Operation
%KX6734 %KX6894 0: not decelerated, 1: decelerated
(deceleration)
Operation (dwell) %KX6735 %KX6895 0: not during dwell, 1: during dwell
Operation 0: position not controlled
%KX6736 %KX6896
(positioning) 1: position controlled
Operation 0: speed not controlled
%KX6737 %KX6897
(speed control) 1: speed controlled
Operation control
0: interpolation not controlled
(straight %KX6738 %KX6898
1: interpolation controlled
interpolation)
0: not returning to origin
Return to origin %KX6741 %KX6901
1: returning to origin
Position 0: position not synchronized
%KX6742 %KX6902
synchronization 1: position synchronized
Speed 0: speed not synchronized
%KX6743 %KX6903
synchronization 1: speed synchronized
0: jog not at low speed
Jog low speed %KX6744 %KX6904
1: jog at low speed
0: jog not at high speed
Jog high speed %KX6745 %KX6905
1: jog at high speed
0:not during inching operation
Inching operation %KX6746 %KX6906
1: during inching operation

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Chapter 3 Before positioning

(2) Status Monitoring Data Area

(a) XBM/XBC status monitoring area
Device Area
Variables Axis X Axis X Status
Address Properties Address Properties
Double
Current position K422 K432 Double word Shows current position
word
Double
Current speed K424 K434 Double word Shows current speed
word
Double
Step No. K426 K436 Word Shows current operation step
word

Error code K427 Word K437 Word Shows error code in case of an error
Shows M code number when M code
M code No. K428 Word K438 Word
is on

(b) XBM/XBC status monitoring area

Device Area
Variables Axis X Axis Y Status
Address Properties Address Properties
Double Double
Current position %KD211 %KD216 Shows current position
word word
Double Double
Current speed %KD212 %KD217 Shows current speed
word word
Double
Step No. %KW426 %KW436 Word Shows current operation step
word

Error code %KW427 Word %KW437 Word Shows error code in case of an error
Shows M code number when M code is
M code No. %KW428 Word %KW438 Word
on

3.4.2 Flag for Positioning Instruction and Command

The flag for positioning instruction and command divides as follows. You can easily conduct
positioning operation without positioning instruction using the flag. If you change the flag for instruction
of area K, the scan ends and applies in the next scan.

(1) Bit Area Flag

(a) XBM/XBC bit area flag

Device Area
Variables Axis X Axis Y Status
Word Bit Address Word Bit Address
Start signal 0 K4290 0 K4390 Indirect start at rising edge
0: stop jog,
Normal direction jog 1 K4291 1 K4391
1: normal direction jog operation
Backward direction K429 K439 0: stop jog,,
2 K4292 2 K4392
jog 1: normal direction jog operation
0: jog low speed, 1: jog high
Jog high/low speed 3 K4293 3 K4393
speed
1 K4681 1 K5081
M code output mode K468 K508 0: NONE, 1: WITH, 2: AFTER
2 K4682 2 K5082

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Chapter 3 Before positioning

Upper/lower limit
detection of S/W
0: detection not allowed,
allowed during 4 K4684 4 K5084
1: detection allowed
constant speed
operation
0: approximate
Return-to-origin origin/origin(OFF)
0,1 K4780~1 1 K5180~1
method 1: approximate origin/origin (On)
K478 K518
2: approximate origin
Return-to-origin 0: normal direction, 1: backward
2 K4782 2 K5182
direction direction
Use for positioning 0 K4870 0 K5270 0: use, 1: no use
Pulse output level 1 K4871 1 K5271 0: low Active,1: high Active
K487 K527
Use of upper/lower
2 K4872 2 K5272 0: no use, 1: use
limit
Pulse output mode 3 K4873 3 K5273 0: CW/CCW, 1: PLS/DIR

(b) XEC bit area flag

Device area
Variables Axis X Axis Y Status
Address Addreess
Start signal %KX6864 %KX7024 Indirect start at rising edge
0: stop jog,
Normal direction jog %KX6865 %KX7025
1: normal direction jog operation
Backward direction 0: stop jog,,
%KX6866 %KX7026
jog 1: normal direction jog operation
Jog high/low speed %KX6867 %KX7027 0: jog low speed, 1: jog high speed
%KX7489 %KX8129
M code output mode 0: NONE, 1: WITH, 2: AFTER
%KX7490 %KX8130
Upper/lower limit
detection of S/W
0: detection not allowed,
allowed during %KX7492 %KX8132
1: detection allowed
constant speed
operation
0: approximate origin/origin(OFF)
Return-to-origin
%KX7648-49 %KX8288-89 1: approximate origin/origin (On)
method
2: approximate origin
Return-to-origin 0: normal direction, 1: backward
%KX7650 %KX8290
direction direction
Use for positioning %KX7792 %KX8432 0: use, 1: no use
Pulse output level %KX7793 %KX8433 0: low Active,1: high Active
Use of upper/lower
%KX7794 %KX8434 0: no use, 1: use
limit
Pulse output mode %KX7795 %KX8435 0: CW/CCW, 1: PLS/DIR

(c) Starting Signals

1) The starting signals conducts positioning operation according to the current operation step
number (axis X: K426(%KW426), axis Y: K436(%KW436)) without setting the step number unlike
indirect or direct starting.
2) Since the current operation step area is for read only, if you want to change the operation step
number, you need to use the starting step number change instruction (SNS, APM_SNS).
3) The following program is an example of the program that indirectly starts with the operation data
displayed in the current step number (K426) on axis X by setting the starting signal whenever

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Chapter 3 Before positioning

the external input starting switch (P000F) turns On.

Device Description Device Description

Axis X starting external
P000F(%IX0.0.15) K4201(%KX6721) Axis X error
switch
Axis X signal during Axis X starting instruction
K4200(%KX6720) K4290(%KX6864)
operation flag

• The program above is an example of the program that indirectly starts with the operation data of
the current step number (K426 word) on axis X by setting the starting signal whenever the
external input starting switch (P000F) turns On.
• When the starting switch turns On, the starting commanding flag (K4290) is set and axis X starts,
and when the starting switch turns Off, the starting contact point is reset.
• Note that the set coil is used for axis X starting commanding flag (K4290) instead of ordinary coil
output.
For example, if a toggle switch is used for the starting switch, and if the starting commanding flag
(K4290) is not set but ordinary coil output is used, there might be the problem that it is
automatically restarted by the bit Off during operation when positioning is completed. To avoid this,
use a push button switch for the external input switch, and use a set coil and reset coil according
to the On/Off of the input switch for the starting commanding flag.

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Chapter 3 Before positioning

(b) Jog Operation

1) The following program is an example of the program that carries out the jog operation of axis X
by turning on/off the flag for commanding the normal/backward direction jog according to the
external input signal.

Device Description Device Description

External input of
P0008(%IX0.0.8) K4201(%KX6721) Flag displaying axis X error
normal direction jog
External input of Flag commanding normal
P0009(%IX0.0.9) K4291(%KX6865)
backward direction jog direction jog of axis X
Flag commanding
External input of jog
P000A(%IX0.0.10) K4292(%KX6866) backward direction jog of
low speed/high speed
axis X
Signal of axis X during Flag commanding jog
K4200(%KX6720) K4293(%KX6867)
operation low/high speed of axis X

• The program above is an example of the program that carries out the jog operation in the
corresponding direction while the external input normal direction jog switch (P0008) or
backward direction jog switch (P0009) in On.
• Then the operation speed is jog high speed if the jog low/high speed external input (P000A) is
On, and high low if Off, and can be changed during jog operation, too.
• As the start and stop of jog operation is done by the level of the input signals, if the input signal
(P0008, P0009) is On, it operates, and if Off, it carries out jog stop.
• If both jog normal direction operation and backward direction operation are On, there is no error
code in XGB built-in positioning, but it stops if it is currently in operation.

Remark

• If you do jog operation by adding the signal (K4200(%KX6720), K4300(%KX6880)) during

operation as the normally closed contact point (contact point B) for the jog operation input
condition, it alternates starting and stopping according to the On/Off of the signal during
operation.

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Chapter 3 Before positioning

(2) Data Area for Positioning Setting

(a) In case of XBM/XBC
Device Area
Variables Axis X Axis Y Status
Address Properties Address Properties

Bias speed K0450 Double word K0490 Double word Sets bias speed.
Speed limit K0452 Double word K0492 Double word Sets maximum speed limit.
Acceleration time 1 K0454 Word K0494 Word Sets acceleration time 1.
Deceleration time 1 K0455 Word K0495 Word Sets deceleration time 1.
Acceleration time 2 K0456 Word K0496 Word Sets acceleration time 2.
Deceleration time 2 K0457 Word K0497 Word Sets deceleration time 2.
Acceleration time 3 K0458 Word K0498 Word Sets acceleration time 3.
Deceleration time 3 K0459 Word K0499 Word Sets deceleration time 3.
Acceleration time 4 K0460 Word K0500 Word Sets acceleration time 4.
Deceleration time 4 K0461 Word K0501 Word Sets deceleration time 1
Upper limit of Sets upper limit value of
K0462 Double word K0502 Double word
software software.
Lower limit of Sets lower limit value of
K0464 Double word K0504 Double word
software software.
Sets backlash correction
Backlash correction K0466 Word K0506 Word
value.
Sets origin address for origin
Origin address K0469 Double word K0509 Double word
return.
High speed of origin Sets high speed for origin
K0471 Double word K0511 Double word
return return.
Low speed of origin Sets low speed for origin
K0473 Double word K0513 Double word
return return.
Acceleration time for Sets acceleration time for
K0475 Word K0515 Word
origin return origin return
Deceleration time for Sets deceleration time for
K0476 Word K0516 Word
origin return origin return
Dwell time for origin Sets dwell time for origin
K0477 Word K0517 Word
return return
Sets high speed for jog
Jog high speed K0479 Double word K0519 Double word
operation.
Sets low speed for jog
Jog low speed K0481 Double word K0521 Double word
operation
Sets acceleration time for jog
Jog acceleration time K0483 Word K0523 Word
operation
Sets deceleration time for jog
Jog deceleration time K0484 Word K0524 Word
operation
Sets operation speed for
Inching speed K0485 Word K0525 Word
inching operation.

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Chapter 3 Before positioning

(b) In case of XEC

Device area
Variables Axis X Axis Y Status
Address Properties Address Properties

Bias speed %KD225 Double word %KD245 Double word Sets bias speed.
Speed limit %KD226 Double word %KD246 Double word Sets maximum speed limit.
Acceleration time 1 %KW454 Word %KW494 Word Sets acceleration time 1.
Deceleration time 1 %KW455 Word %KW495 Word Sets deceleration time 1.
Acceleration time 2 %KW456 Word %KW496 Word Sets acceleration time 2.
Deceleration time 2 %KW457 Word %KW497 Word Sets deceleration time 2.
Acceleration time 3 %KW458 Word %KW498 Word Sets acceleration time 3.
Deceleration time 3 %KW459 Word %KW499 Word Sets deceleration time 3.
Acceleration time 4 %KW460 Word %KW500 Word Sets acceleration time 4.
Deceleration time 4 %KW461 Word %KW501 Word Sets deceleration time 1
Upper limit of Sets upper limit value of
%KD231 Double word %KD251 Double word
software software.
Lower limit of Sets lower limit value of
%KD232 Double word %KD252 Double word
software software.
Sets backlash correction
Backlash correction %KW466 Word %KW506 Word
value.
Double word Double word Sets origin address for origin
Origin address %KD234 %KD254
return.
High speed of origin Double word Double word Sets high speed for origin
%KD235 %KD255
return return.
Low speed of origin Double word Double word
%KD236 %KD256 Sets low speed for origin return.
return
Acceleration time for Word Word Sets acceleration time for origin
%KW475 %KW515
origin return return
Deceleration time for Word Word Sets deceleration time for origin
%KW476 %KW516
origin return return
Dwell time for origin Word Word
%KW477 %KW517 Sets dwell time for origin return
return
Double word Double word Sets high speed for jog
Jog high speed %KD239 %KD259
operation.
Double word Double word Sets low speed for jog
Jog low speed %KD240 %KD260
operation
Sets acceleration time for jog
Jog acceleration time %KW483 Word %KW523 Word
operation
Sets deceleration time for jog
Jog deceleration time %KW484 Word %KW524 Word
operation
Sets operation speed for
Inching speed %KW485 Word %KW525 Word
inching operation.

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Chapter 3 Before positioning

(3) Status Monitoring and Commanding Flag by Operation Step

(a) In case of XBM/XBC (Step 01)
Device area
Variables Axis X Axis Y Status
properties
Address Address

Double
Step 01 target position K0530 K0830
word

Double
Step 01 operation speed K0534 K0834
word

Step 01 dwell time K0536 K0836 Word

Step 01 M code number K0537 K0837 Word

Step 01 operation method K05380 K08380 Bit

Step 01 control method K05381 K08381 Bit

Step 01 operation pattern Bit

K05382 K08382
(Low)

Step 01 operation pattern Bit

K05383 K08383
(High)

Step 01 coordinates K05384 K08384 Bit

Step 01 acc./dec. number Bit

K05386 K08386
(Low)

Step 01 acc./dec. number Bit

K05387 K08387
(High)

Step 01 coordinates K0539 K0839 Word

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Chapter 3 Before positioning

(b) In case of XBM/XBC (Step 01)

Device area
Variables Axis X Axis Y Status
properties
Address Address

Double
Step 01 target position %KD265 %KD415
word

Double
Step 01 operation speed %KD267 %KD417
word

Step 01 dwell time %KW536 %KW836 Word

Step 01 M code number %KW537 %KW837 Word

Step 01 operation method %KX8608 %KX13408 Bit

Step 01 control method %KX8609 %KX13409 Bit

Step 01 operation pattern Bit

%KX8610 %KX13410
(Low)

Step 01 operation pattern Bit

%KX8611 %KX13411
(High)

Step 01 coordinates %KX8612 %KX13412 Bit

Step 01 acc./dec. number Bit

%KX8614 %KX13414
(Low)

Step 01 acc./dec. number Bit

%KX8615 %KX13415
(High)

Step 01 coordinates %KW539 %KW839 Word

• The table above shows the area K for positioning of the operation step #1. You can change the
operation data without setting the parameters by changing the value of the corresponding area K.
• If you want to permanently preserve the operation data of the changed area K, apply the data of
current area K to the built-in parameter area by using the applied instruction (WRT instruction,
APM_WRT instruction).

Remark

• Note that area K for positioning is initialized if you cut the power and re-supply power or if you
change the operation mode without executing the WRT instruction after changing the value of
area K.
• The variable of area K for each step can be used more conveniently by using the variable
registration function of XG5000. For the positioning monitor registration, see the manual of
XG5000.

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Chapter 4 Positioning Check

Chapter 4 Positioning Check

This Chapter describes how to test the operation test to check whether the positioning function is well performed
before the XGB positioning function is used.

4.1 The Sequence of Positioning Check

This is for checking whether the XGB positioning operation is normally performed by carrying out normal
and reverse direction jog operation. The sequence is as follows.

(1) Power Off

• Distribution is needed to check the XGB positioning operation.
Before distribution, turn off XGB.
• Be sure to check whether the PWR LED of XGB is off before moving on to the next step.

(2) Input Signal Distribution

• Distribute the input signals needed to check the operation as follows.
• Do not connect the output signal line to the motor driver. If there is a problem with the PLC hardware,
connecting to the motor driver might lead to malfunction or damage to the equipment.

Contact Point Contact Point No.

Input Signal Remark
Type
XBC XEC
Contact point
Axis X P0010 %IX0.0.16
Jog normal direction randomly selected
switch Contact point
Axis Y P0011 %IX0.0.17
Contact point randomly selected
normally open (A) Contact point
Axis X P0012 %IX0.0.18
Jog reverse direction randomly selected
switch Contact point
Axis Y P0013 %IX0.0.19
randomly selected

(3) Making the Program for Operation Check

• Make the program for checking the operation by using XG5000. For the details and making of the
program, see ‘4.2 Making of the Program for Operation Check.’

(4) Power Supply and Program Writing

• If you have finished making the program, supply power to XGB PLC, and use XGB as the parameter
and the program.

(5) Input Contact Point Operation Check

• Before switching the operation mode of the PLC to RUN, check the normal operation of the input
contact point as follows.
Contact No.
Input Signal Operation Check
XBC XEC
Jog normal Axis X P0010 %IX0.0.16
• Check whether the LED of the contact
direction Axis Y P0011 %IX0.0.17 point turns on while the switch is ON and
Jog reverse Axis X P0012 %IX0.0.18 the value of the contact point changes into
direction 1 in the device monitor of XG5000.
Axis Y P0013 %IX0.0.19

• If the device doesn’t work as described in the table above, there might be a problem with the LED or
the input hardware, so contact the customer center.

4- 1
Chapter 4 Positioning Check

(6) Operation Check through Jog Operation

• Check the operation of XGB positioning doing jog operation in the following sequence.
• This manual describes the axis X operation check when the pulse output mode is PLS/DIR mode
and the pulse output level is set as Low Active. Check the operation of axis Y. in the same manner.

(a) Check of Normal Direction Rotation of Jog

• Turn on the normal direction switch(P0010) of axis X, with the reverse direction switch of the
jog set at Off.
• Check whether the XGB positioning function normally generates jog normal direction output.
1) Check of the output LED
- P0020 (%QX0.0.0) : flashes quickly
- P0022 (%QX0.0.2) : stays ON
2) Check of area K
- Check whether the current position address is increasing by checking the current
position address area (axis X: K422 double word) with XG5000.

(b) Check of Normal Direction Stop of Jog

• Turn Off the jog normal direction switch (P0010, %IX0.0.16) during jog normal direction
operation, and check whether the output LED (P0020, %QX0.0.0, P0022, %QX0.0.2) is Off,
the current position address area (axis X: K422, %KD211 double word) with XG5000, and
whether the current position address has stopped increasing.

(c) Check of Reverse Direction Rotation of Jog

• Turn on the axis X jog reverse direction switch (P0012, %IX0.0.18)), with the normal direction
switch of the jog Off.
• Check whether the XGB positioning function is generating jog reverse direction output
normally.
1) Output LED Check
- P0020(%QX0.0.0) : flashes quickly
- P0022(%QX0.0.2) : stays OFF
2) Check of area K
- Check whether the current position address is decreasing by checking the current
position address area (axis X: K422, %KD211 double word) with XG5000

(d) Check of Reverse Direction Stop of Jog

• Turn Off the jog reverse direction switch (P0012, %IX0.0.18) during jog reverse direction
operation, and check whether the output LED (P0020, %QX0.0.0, P0022, %QX0.0.2) is Off,
the current position address area (axis X: K422, %KD211 double word) with XG5000, and
whether the current position address has stopped decreasing
(e) For compact standard type, there is not actual output P00040/P00044 and they are indicated by
LED.

(7) Finish of Positioning Check

• When you have finished checking whether the jog normal and reverse operation is normally
operating through the process above, end the check, make the positioning operation program to be
actually used and conduct the positioning operation.

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Chapter 4 Positioning Check

4.2 Making of Operation Check Program

The program for operation check used in this manual should be made as follows.
The positioning parameters should be set as follows.
For setting the positioning parameters, see 3.2.

(1) Positioning Basic Parameters

Items Range Set Values Data Size

Positioning 0 : not used, 1 : used 0 Bit

Pulse output level 0 : Low Active, 1 : High Active 0 Bit
Pulse output mode 0 : CW/CC, 1 : PLS/DIR 1 Bit
M code output mode 0 : NONE, 1 : WITH, 2 : AFTER 0 2 Bit
Bias speed 1 ∼ 100,000[pulse/sec.] 1 Double word
Speed limit 1 ∼ 100,000[pulse/sec.] 100,000 Double word
Acceleration time 1 0 ~ 10,000[unit: ms] 500 Word
Deceleration time 1 0 ~ 10,000[unit: ms] 500 Word
Acceleration time 2 0 ~ 10,000[unit: ms] 1,000 Word
Deceleration time 2 0 ~ 10,000[unit: ms] 1,000 Word
Acceleration time 3 0 ~ 10,000[unit: ms] 1,500 Word
Deceleration time 3 0 ~ 10,000[unit: ms] 1,500 Word
Acceleration time 4 0 ~ 10,000[unit: ms] 2,000 Word
Deceleration time 4 0 ~ 10,000[unit: ms] 2,000 Word
S/W upper limit -2,147,483,648 ∼ 2,147,483,647 [pulse] 2,147,483,647 Double word
S/W lower limit -2,147,483,648 ∼ 2,147,483,647 [pulse] -2,147,483,648 Double word
Backlash correction 0 ∼ 65,535[pulse] 0 Word
SW upper and lower limit
during constant speed 0 : not detected, 1 : detected 0 Bit
operation
Use of upper and lower
0 : not used, 1 : used 1 Bit
limit

(2) Home return/Manual Operation Parameter

Items Range Initial Values Data Size

Home return method 0 ~2 0 Bit

Home return direction 0 : normal direction, 1 : reverse direction 1 Bit
Origin address -2,147,483,648∼2,147,483,647[pulse] 0 Double word
Home return high speed 1 ∼ 100,000[pulse/sec.] 5,000 Double word
Home return low speed 1 ∼ 100,000[pulse/sec.] 500 Double word
Home return acceleration
0 ~ 10,000[unit: ms] 1,000 Word
time
Home return deceleration
0 ~ 10,000[unit: ms] 1,000 Word
time
Dwell time 0 ~ 50,000[unit: ms] 0 Word

JOG high speed 1 ∼ 100,000[pulse/sec.] 5,000 Double word

JOG low speed 1 ∼ 100,000[pulse/sec.] 1,000 Double word
JOG acceleration time 0 ~ 10,000[unit: ms] 1,000 Word

JOG deceleration time 0 ~ 10,000[unit: ms] 1,000 Word

Inching speed 1 ∼ 65,535[pulse/sec.] 100 Word

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Chapter 4 Positioning Check

(3) Example of the Program

The following is an example of the program for positioning check.
(a) In case of XBM, XBC

(b) In case of XEC

4- 4
Chapter 5 Positioning Instructions

Chapter 5 Positioning Instructions

This chapter describes the definitions, functions, use of the positioning instructions used in XGB
positioning functions and the program examples.

5.1 Positioning Instruction Alarm

The positioning instructions used for XGB positioning are as follows.

(1) In case of XBC/XBM
Instructi
Description Conditions Remark
ons

ORG Start return to the origin Slot, instruction axis 5.2.1

FLT Set floating origin Slot, instruction axis 5.2.2
Slot, instruction axis, position, speed, dwell time,
DST Direct starting 5.2.3
M code, control word

IST Indirect starting Slot, instruction axis, step number 5.2.4

LIN Linear interpolation starting Slot, instruction axis, step number, axis information 5.2.5
Slot, instruction axis, axis X step, axis Y step,
SST Simultaneous starting 5.2.6
axis Z step, axis information

VTP Speed/position switching Slot, instruction axis 5.2.7

PTV Position/speed switching Slot, instruction axis 5.2.8
STP Stop Slot, instruction axis, deceleration time 5.2.9
Slot, instruction axis, step number, main axis position,
SSP Position synchronization 5.2.10
main axis setting

SSS Speed synchronization Slot, instruction axis, synchronization rate, delay time 5.2.11
POR Position override Slot, instruction axis, position 5.2.12
SOR Speed override Slot, instruction axis, speed 5.2.13
PSO Positioning speed override Slot, instruction axis, position, speed 5.2.14
INCH Inching starting Slot, instruction axis, inching amount 5.2.15
SNS Change starting step number Slot, instruction axis, step number 5.2.16
MOF Cancel M code Slot, instruction axis 5.2.17
PRS Preset current position Slot, instruction axis, position 5.2.18
EMG Emergency stop Slot, instruction axis 5.2.19
CLR Reset error, cancel output inhibition Slot, instruction axis, inhibit/allow pulse output 5.2.20
WRT Save parameter/operation data Slot, instruction axis, select the storage area 5.2.21
PWM Pulse width modulation Slot, instruction axis, output cycle, off duty rate 5.2.22

Remark
• XGB positioning instructions are activated at the rising edge. That is, when the execution contact point
is On, it carried out the instruction only once.

5 -1
Chapter 5 Positioning Instructions

(2) In case of XEC

Function Block Description Conditions Remark

APM_ORG Start return to the origin Req, Base, Slot, Axis 5.3.2
APM_FLT Set floating origin Req, Base, Slot, Axis 5.3.3

Req, Base, Slot, Axis, Position, speed, dwell time,

APM_DST Direct starting M code, position/speed, absolute/incremental, 5.3.4

ACC/DEC time
APM_IST Indirect starting Req, Base, Slot, Axis, step number 5.3.5
APM_LIN Linear interpolation starting Req, Base, Slot, Axis, step number 5.3.6

Req, Base, Slot, Axis, X axis step, Y axis step,

APM_SST Simultaneous starting 5.3.7
Z axis step
APM_VTP Speed/position switching Req, Base, Slot, Axis 5.3.8
APM_PTV Position/speed switching Req, Base, Slot, Axis 5.3.9
APM_STP Stop Req, Base, Slot, Axis, ACC/DEC time 5.3.10

Req, Base, Slot, Axis, Step number, main axis,

APM_SSP Position synchronization 5.3.11
Main axis position

Req, Base, Slot, Axis, main axis, rate of sub-axis,

APM_SSSB Speed synchronization 5.3.12
delay time
APM_POR Position override Req, Base, Slot, Axis, position 5.3.13
APM_SOR Speed override Req, Base, Slot, Axis, speed 5.3.14
APM_PSO Positioning speed override Req, Base, Slot, Axis, position, speed 5.3.15
APM_INC Inching starting Req, Base, Slot, Axis, inching amount 5.3.16
APM_SNS Change starting step number Req, Base, Slot, Axis, step number 5.3.17
APM_MOF Cancel M code Req, Base, Slot, Axis 5.3.18
APM_PRS Preset current position Req, Base, Slot, Axis, position 5.3.19
APM_EMG Emergency stop Req, Base, Slot 5.3.20

Reset error, cancel output

APM_RST Req, Base, Slot, Axis, Enable/Disable pulse output 5.3.21
inhibition

Save parameter/operation
APM_WRT Req, Base, Slot, Axis, Select area to save 5.3.22
data
APM_PWM Pulse width modulation Reg, Slot, Axis, output cycle, off duty rate 5.3.23

5 -2
Chapter 5 Positioning Instructions

5.2 Details of Positioning Instructions (In case of XBC/XBM)

5.2.1 Origin Return Instructions

• Origin return is sued to check the origin of the machine when power is supplied to the machine in
general. If the origin return instruction is given, it is executed depending on the setting of the origin
return parameter. (for setting of the origin return parameter, refer to 3.2.4.)

Type Items Description Remark

origin return method Set origin return method
Starting direction during origin return
origin return direction
operation
Origin address origin address in detecting origin
origin high/low speed during origin return
origin return speed
return operation
parameter origin return dec./acc. time dec./acc. time during origin return operation
origin return deceleration Set deceleration time during origin return
time operation
Time it takes to remove remaining pulse of
DWELL time the deviation counter right after origin
return is finished

• In general, the origin return divides into two ways, one of which is using the DOG and the other is
not using it. In XGB positioning function, the following three ways can be used that use the DOG.
(for details of the origin return method, refer to 3.1.9.)

Origin return method Necessary input signals Remark

Detect origin after DOG turns Off
DOG signal, origin signal
(0: DOG/origin (OFF))
When DOG is On, detect the origin ( ) is what is displayed in
after deceleration . DOG signal, origin signal the positioning
(1: DOG/origin (On)) origin/manual parameter.
Detect the origin by DOG
DOG signal
(2: DOG)

• The following diagram is an example of origin detection by DOG among the three ways of origin
return.

5 -3
Chapter 5 Positioning Instructions

(1) Origin return Instruction (ORG)

Available areas Flag

Instruction con Step Error Zero Carry
PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ORG 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -

COMMAND
ORG ORG sl ax

A
[Area seting]
Operand Description Setting range Data size
Slot number where positioning modules are
sl XGB is fixed at 0. WORD
mounted
ax The axis to give instructions 0(axis X) or 1(axis Y) WORD
[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is for carrying out the origin return of the XGB built-in positioning function.
• It gives the origin return instruction to the axis designated as the ax of positioning built in XGB at the
rising edge of the input condition.
• When origin return is completed, the origin setting bit (axis X:K4204,axis Y:K4304) turns On and the
current address is preset at the address value set in the origin return parameter.

(s) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set and
the instruction is not executed.
• This is an error of instruction execution, so the error flag (axis X:K4201,axis Y: K4301) of area K for
positioning does not turn On.

(2) Related Device Alarm

• The parameters and area K devices related to ORG instructions are as follows.

Parameter Area K
Data size
Item Setting range axis X axis Y Properties
0 : DOG/Home(Off)
K4780 K5180
origin return method 1 : DOG/Home(On) Read/write 2 bit
K4781 K5181
2 : DOG
origin return 0 : CW,
K4782 K5182 Read/write Double word
direction 1 : CCW
-2,147,483,648∼
Origin address K469 K509 Read/write Double word
2,147,483,647[pulse]
origin return high
1 ∼ 100,000[pps] K471 K511 Read/write Double word
speed

5 -4
Chapter 5 Positioning Instructions

Parameter Area K
Data size
Item Setting range Data size axis Y Properties
origin return low
1 ∼ 100,000[pps] K473 K513 Read/write Double word
speed
origin return
0 ~ 10,000[ms] K475 K515 Read/write Word
acceleration time
origin return
0 ~ 10,000[ms] K476 K516 Read/write Word
deceleration time
Dwell time 0 ~ 50,000[ms] K477 K517 Read/write Word

(3) Examples of Instructions

• The origin return instructions are described as follows with the examples of the parameters and
programs.
• The examples of the ORG instructions are described on the basis of axis X.

(a) Parameter Setting

Parameter
Item Value
origin return 1: DOG
method /origin(On)
origin return 1: reverse
direction direction
Origin address 0
origin return high
50,000[pps]
speed
origin return low
500[pps]
speed
origin return
100[㎳]
acceleration time
origin return
100[㎳]
deceleration time
Dwell time 100[㎳]

(b) Examples of the Program

(c) Devices Used

Device Description
M0000 Starting signal of axis X origin return
K4200 Signal during axis X operation
K4201 axis X error

5 -5
Chapter 5 Positioning Instructions

(d) Program Operation

• The ORG instruction is executed when there is the rising edge of M0000 which was used as the
starting signal of the axis X origin return.
(It doesn’t work if axis X is operating or in error)
1) If the origin return instruction (ORG instruction) is executed, it is decelerated in the reverse
direction as set in the origin return parameter and operates at origin return high speed
(50,000pps).
2) If there is the rising edge of the DOG signal during origin return high speed operation, it is
decelerated and operates at origin return low speed (500pps). The deceleration time is 100ms,
set in the parameter.
3) If the origin signal is input, which is the external input signal, after switch to the origin return low
speed, the output immediately stops, and the origin determining status flag (K4204 bit) turns
On after the dwell time (100ms).
(There may be a delay as long as ‘dwell time + 1 scan time’ until the origin determining status
flag (K4204 bit) turns On after the output stops.)
4) Then the current address is preset at 0, which is the origin address set in the parameter.

Remark

• The DOG signal and origin signal are respectively fixed as the following contact points.

Standard Compact standard/high-end type

DOG origin DOG origin
axis X P0004 P0005 P000C P000D
axis Y P0006 P0007 P000E P000F

• If the contact points of the DOG and the origin input are used together as the external
preset input of the high speed counter, or together as the starting signal of the external
contact point task, the origin detection might be inaccurate.
• The current position address does not change during origin return.

5 -6
Chapter 5 Positioning Instructions

5.2.2 Floating Origin Setting Instruction

• Floating origin setting refers to setting the current position as the origin by force with the instruction
without carrying out the actually mechanical origin return.

(1) Floating origin Setting Instruction (FLT)

Areas available Flag

Instruction con Step Error Zero Carry
PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
FLT 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
FLT FLT sl ax

[Area Setting]
Operand Description Setting range Data size
Slot number where positioning module is
sl XGB is fixed at 0 WORD
mounted
ax Axis to give instruction 0(axis X) or 1(axis Y) WORD
[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is for setting the floating origin to the XGB built-in positioning.
• The instruction of setting the floating origin is given to the axis designated as ax of XGB positioning
at the rising edge of the input condition.
• If the instruction is carried out, the current position address becomes 0, and the origin determining
bit (axis X: K4204,axis Y:K4304) turns On.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set and
the instruction is not executed

Remark

• Floating origin setting presets the current position at 0 and only fixs the origin, so you need to
note the following when you use the instruction of setting the floating origin.
 Check whether there is an error before carrying out the floating origin setting instruction. If
there is an error, remove the cause of the error, reset the error (CLR instruction) and
terminate the output inhibition.
 Now set the floating origin, change the step number to operate into the starting step change
instruction (SNS), and then get it started.

5 -7
Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

• The floating origin setting instruction is described with the example of the following program.
• The example of use of the FLT instruction is described on the basis of axis X.

(a) Example of the Program

(b) Device Used

Device Description
axis X floating origin instruction
M0000
signal
K4200 Signal during axis X operation
K4201 axis X error

(c) Operation of the Program

• The FLT instruction is executed when there is the rising edge of M0000, which was used as axis X
floating origin instruction signal.
(Not if axis X is operating or in error)
• If the FLT instruction is executed, the origin is fixed right away at the current position differently
from the origin return, the origin determining signal (axis X:K4204) turns On, and the current
address is preset at 0.

5 -8
Chapter 5 Positioning Instructions

5.2.3 Direct Starting Instruction

• Direct starting refers to designating the operation data of the target position and speed from the
positioning instruction (DST instruction) for operation without using the setting of the step set in the
positioning operation data.

(1) Direct Starting Instruction (DST)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
DST n2 ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n3 ○ - ○ - - - ○ - - ○ - - ○ -
n4 ○ - ○ - - - ○ - - ○ - - ○ -
n5 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
DST DST sl ax n1 n2 n3 n4 n5
[
[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Target position -2,147,483,648~2,147,483,647[Pulse] DINT
n2 Target speed 1~100,000[pps] DWORD
n3 dwell time 0~50,000[㎳] WORD
n4 M code number M code (0~65,535) WORD
n5 Control word See ‘(a) function’ WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is for directly ordering the start to XGB built-in positioning.
• This instruction carries out direct starting of the axis designated as ax of XGB positioning at the
rising edge of input condition.
• If the instruction is executed, positioning operation is started by using the target position set in n1,
the target speed set in n2, the dwell time set in n3, and the M code number set in n4 instead of the
operation data set in the step number (axis X:K426, axis Y:K436 word) of area K.
• The absolute/Incremental coordinates, position/speed control and acceleration/deceleration
pattern number are fixed by the setting of each bit of the control word set as n5.

Bit
F E D C B A 9 8 7 6 5 4 3 2 1 0
number

Setting coordinates control

Not used Acc./dec. time Not used
item setting method
Setting 0: 1, 1:2 0: absolute 0: position
- -
range 2:3, 3:4 1: ncremental 1: speed

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Chapter 5 Positioning Instructions

• The instruction only sets the item of the operation data, and the basic parameter items related to
the operation such as the bias speed and speed limit are fixed in the positioning basic parameters.
• If you use the DST instruction, the operation pattern is fixed as End operation, and the operation
method is fixed as the single operation. But if continued operation or repeated operation is needed,
use indirect starting (IST instruction).

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• This case if an error of execution of the instruction, so the error of positioning area K flag (axis
X:K4201, axis Y: K4301) does not turn On.

(2) Example of Use of the Instruction

• Direct starting instruction is described with the example of the following program.
• The example of use of the DST instruction is described on the basis of axis X.

(a) Example of the Program

(b) Device Used

Device Description Data size Example of setting

axis X origin return
M0000 BIT -
instruction signal
axis X direct starting
M0001 BIT -
instruction signal
signal during axis X
K4200 BIT -
operation
K4201 axis X error BIT -
D0000 Target position DINT 100,000
D0002 Target speed DWORD 30,000
D0004 Dwell time WORD 100
D0005 M code number WORD 123
※
D0006 Control word WORD H’20
※ H`20 : Bit5~6 : 1 (No.2 acceleration/deceleration pattern), Bit 4 : 0 (absolute coordinates),
Bit0 : 0(position control)

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Chapter 5 Positioning Instructions

(c) Operation of the Program

• If there is the rising edge of M0001 used as the direct starting instruction signal of axis X, the DST
instruction is executed.
(Not if axis X is operating or in error.)
• If the origin is not fixed when the DST is started, error code 224 will appear and operation will not
occur. In such a case, turn on M0000, execute the ORG instruction and thereby carry out the
origin return, and start the DST instruction.

1) If the DST instruction is executed, the positioning operation gets started as set in the operand
as follows.
- Since sl and ax are 0, built-in positioning axis X is started.
- The target position will be 100,000 pulse set as double word in D0002.
- The target speed will be 30,000 pps set as double word in D0002.
- After positioning is finished, the dwell time becomes 100ms set in D0004, and No.123
designated in D0005 will be output as the M code.
- Since the control word of D0006 is H`20, the acceleration/deceleration pattern will follow the
acceleration time 2 and deceleration time 2 of the basic parameter, and the positioning
operation will be done as the absolute coordinates. If the DST instruction is started, the
position control will be executed in the absolute coordinates, it will operate up to the
100,000 pulse at 30,000 pps, then stop, and after the dwell time of 100 ms passes, the
positioning is finished, and M code outputs 123.

2) If positioning is finished by direct starting, positioning finish signal (axis X:K4202) turns on for a
scan.

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Chapter 5 Positioning Instructions

5.2.4 Indirect Starting Instruction

• Indirect starting refers to execution of the positioning operation by using the operation step data set in
the positioning operation data.

(1) Indirect Starting Instruction (IST)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
IST ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -

COMMAND
IST IST sl ax n1
[

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Step number to start 0~30(standard), 0~80(advanced) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving indirect starting instruction to XGB built-in positioning.
• The indirect starting is executed to the axis designated as ax of XGB positioning at the rising edge
of the input condition.
• If the instruction is executed, the positioning operation is carried out by the operation data set in
the step number of area K designated in n1. If n1 is set at 0, the operation step is executed which
is displayed in the step number of current positioning area K (axis X:K426, axis Y:K436 word).
• Various operation patterns such as end, continued, and incessant operation, and single and
repeated operation can be made and executed by using the indirect operation instruction.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• In this case, execution of instruction is error. so K area error ocurrence Flag(X axis:K4201, Y
axis:K4301) doesn't turn On
• If the set value of the starting step number gets out of the settable range, instruction Error
Flag(F110) is not set, the error flag of positioning area K (axis X:K4201, axis Y: K4301) turns On,
and the operation does not occur.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

• The indirect starting instruction is described with the example of the following program.
• The example of use of the IST instruction is described on the basis of axis X.

(a) Example of the Program

(b) Device Used

Device Description Data size Example of setting

axis X origin return
M0000 BIT -
instruction signal
axis X indirect starting
M0001 BIT -
instruction signal
signal during axis X
K4200 BIT -
operation
K4201 axis X error BIT -
D0000 Starting step number WORD 3

Repeat
Step coordin Operatio Control Operatio Target position M Acc./dec Operation Dwell time
ed
No. ates n pattern method n mode [Pulse] code . No. speed[pls/s] [㎳]
Step
Increm
3 end position single 0 7,000 0 1 100 10
ental

(c) Operation of the Program

• If there is the rising edge of M0001 used as the axis X indirect starting instruction signal, the IST
instruction is executed.
(Not if axis X is operating or in error.)
• If the origin is not fixed when the DST is started, error code 224 will appear and operation will not
occur. In such a case, turn on M0000, execute the ORG instruction and thereby carry out the
origin return, and start the DST instruction.

1) If the direct starting instruction (IST instruction) is executed, positioning operation starts as set
in the operand as follows.
- Since sl and ax are 0, built-in positioning axis X of the basic unit is started.
- Because the starting step number is set as 3, positioning operation is carried out by the
data of No. 3 step of the positioning operation data. That is, if the IST instruction is started,
positioning control is conducted in the Incremental coordinates as set in operation data No.
3 step, moves up to 7,000 pulse at 100pps, stops, and when the dwell time of 10ms passes,
positioning is finished.

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Chapter 5 Positioning Instructions

2) Since M code is set at 0, it does not appear and as the operation pattern is End, the step
number (axis X:K426) of area K is changed into 4, which is step + 1.

Remark

• In addition to executing indirect operation by using the IST instruction, indirect starting can also
be started by using the starting signal instruction contact point (axis X:K4290, axis Y:K4390) of
area K.
 If starting is done by using the starting signal instruction contact point, the operation step is
fixed at the current operation step number (axis X:K426, axis Y:K436).
 Therefore if you want to change the operation step when starting by using the starting signal
instruction contact point, change the operation step by using the Starting step number
changing instruction and turn on the starting instruction contact point.
• For details, refer to 3.4.2.

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Chapter 5 Positioning Instructions

5.2.5 Straight Interpolation Starting Instruction

• Straight interpolation starting refers to the operation so that the path of axes X and Y is straight from
the starting address (current stop location) to the target address (target address).
• Straight interpolation control divides into control by absolute coordinates and Incremental coordinates.
For details, refer to 3.1.2.
• When the instruction of straight interpolation starting is given, the axis where there is more movement
is designated as the main axis. If the movements are equal, axis X is the main axis.
• The speed of the auxiliary axis does not follow the setting of the operation data, but conducts
operation by calculating the operation speed, acceleration time, deceleration time, and bias speed
automatically by the following operations.

• The operation pattern that can use straight interpolation operation is limited to End and Continued
operation. If the main axis is set as Continued and the interpolation operation is started, no error is
issued in XGB built-in positioning but the operation pattern of the main axis is changed into
Continued. If the auxiliary axis is set as Continued, it does not affect the straight interpolation.

(1) Straight Interpolation Starting Instruction (LIN)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
LIN 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
n2 ○ - ○ - - - ○ - - ○ - - ○ -

COMMAND
LIN LIN sl ax n1 n2
A
[Area Setting]
Operand Description Setting range Data size

Slot number of positioning

sl XGB is fixed at 0 WORD
module
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD

Step number to carry out

n1 0~30(standard), 0~80(advanced) WORD
straight interpolation
Set the axis to carry out
n2 XGB is set at 3 WORD
straight interpolation

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

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Chapter 5 Positioning Instructions

(a) Function
• This instruction is giving the straight interpolation starting instruction to XGB built-in positioning.
• The two axes of XGB positioning conduct straight interpolation starting at the rising edge of input
condition.
• If the instruction is executed, the two axes of XGB positioning carried out the straight interpolation
operation according to the axis setting designated in n2. The step number to be operated is the
step number set in n1.
• In setting of the axis of n2, the axis to carry out the straight interpolation operation as follows.
Bit number 15 ~ 3 2 1 0
Setting Not used Axis Z (XGB is not axis Y axis X
used)
- Each bit refers to the axis to start the straight interpolation. In the case of XGB built-in positioning,
n2 should be fixed as 3 since only axis X and axis Y are available. Otherwise, error code 253 is
issued and it does not operate.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• Since this case if an error of execution of the instruction, the error in positioning area K error
flag(axis X:K4201, axis Y: K4301) does not turn On..
• If the set value of the starting step number gets out of the settable range, instruction Error
Flag(F110) is not set, the error flag of positioning area K (axis X:K4201, axis Y: K4301) turns On,
and the operation does not occur.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Device Used

Device Description Data size Example of setting
axis X origin return
M0000 BIT -
instruction signal
Interpolation starting
M0001 BIT -
instruction signal
signal during axis X
K4200 BIT -
operation
K4201 axis X error BIT -
D0000 Operation step number WORD 10
D0001 Axis information WORD 3

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Chapter 5 Positioning Instructions

Repeat
Step coordi Operatio Control Operatio Target position M Acc./dec. Operation Dwell time
Axis ed
No. nates n pattern method n mode [Pulse] code No. speed[pls/s] [㎳]
Step
positio
X 10 Rel. End Single 0 7,000 0 1 100 10
n
positio
Y 10 Rel. End Single 0 2,000 0 2 300 10
n

(c) Operation of the Program

• The LIN instruction is executed if the rising edge of M0001 is generated which was used as the
instruction signal of the straight interpolation starting.
(If it is in operation of axis X or in error, it does not operate. If axis Y is in operation, error code 242
is issued and it does not operate)

1) If the straight interpolation instruction (LIN instruction) is executed, the straight interpolation
operation is started as set in operand.
2) Since sl is 0, built-in positioning of the basic unit operates straight interpolation.
- Because the starting step number is set as 3, positioning operation is carried out by the data of
No. 3 step of the positioning operation data. That is, if the IST instruction is started, positioning
control is conducted in the Incremental coordinates as set in operation data No. 3 step, moves
up to 7,000 pulse at 100pps, stops, and when the dwell time of 10ms passes, positioning is
finished.
3) As the ax is set at 0, the straight interpolation instruction for axis X is started. (For actual zero,
the main and auxiliary axes of axis X and axis Y are calculated according to the size of the
target position for starting, to the ax operand does not affect the operation)
4) Since the step number of n1 operation is set at 10, the main and auxiliary axes are
automatically selected by No. 10 operation data of axis X and axis Y. (In this example, because
the target position of axis X is larger, axis X is the main axis and axis Y is the auxiliary axis.)
5) The acceleration and deceleration time and speed of axis Y, which is the auxiliary axis, does not
follow the set value but automatically calculated for operation.
6) That is, axis X and axis Y are designated as the main and auxiliary axes respectively by starting
of the LIN instruction, it moves by (7000,2000) to the relative position and the operation ends.

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Chapter 5 Positioning Instructions

5.2.6 Simultaneous Starting Instruction

• The simultaneous starting instruction (SST instruction) is for simultaneously starting the steps of the
axes set in the instruction. For details, refer to 3.1.7.

(1) simultaneous starting instruction (SST)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
SST 4~7 ○ - -
n2 ○ - ○ - - - ○ - - ○ - - ○ -
n3 ○ - ○ - - - ○ - - ○ - - ○ -
n4 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
[ SST SST sl ax n1 n2 n3 n4

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 axis X Step No. 0~30(standard), 0~80(advanced) WORD
n2 axis Y Step No. 0~30(standard), 0~80(advanced) WORD
n3 axis Z Step No. Not used WORD
n4 Axis setting XGB is set at 3 WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This function is for giving the simultaneous starting instruction to XGB built-in positioning
simultaneous starting.
• The two axes of XGB positioning are simultaneously started at the rising edge of the input
condition. (For the difference between using the simultaneous starting instruction and starting the
two axes consecutively in the PLC ladder program, refer to 3.1.7.)
• When the instruction is executed, axis X and axis Y simultaneously start by using the operation
data of the step number set in n1 and n2 respectively. XGB built-in positioning does not have axis
Z, so the set value of n3 does not affect the operation.
• Axis setting of n4 sets the axis to carry out simultaneous starting by bit as follows.
Bit No. 15 ~ 3 2 1 0
Setting Not used Axis Z (XGB not used) axis Y axis X
- Each bit refers to the axis to start straight interpolation. In the case of XGB built-in positioning,
only axis X and axis Y are available, so n4 should be fixed at 3. Otherwise, error code 296 is
issued and operation does not occur.
(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• Since this case if an error of execution of the instruction, the error in positioning area K error
flag(axis X:K4201, axis Y: K4301) does not turn On..
• If the set value of the starting step number gets out of the settable range, instruction Error
Flag(F110) is not set, the error flag of positioning area K (axis X:K4201, axis Y: K4301) turns On,
and the operation does not occur.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

• The instruction is described with the example of the following program simultaneous starting
instruction.

(a) Example of the Program

(b) Device Used

Device Description Data size Example of setting

simultaneous starting
M0001 BIT -
instruction signal
signal during axis X
K4200 BIT -
operation
K4201 axis X error BIT -
signal during axis Y
K4300 BIT -
operation
K4301 axis Y Error BIT -
D0000 axis X operation Step No. WORD 1
D0001 axis Y operation Step No. WORD 2
D0002 axis Z operation Step No. WORD -
D0003 Axis setting WORD 3

Operat Repeat
Step coordin Operatio Control Target position M Acc./dec. Operation Dwell time
Axis ion ed
No. ates n pattern method [Pulse] code No. speed[pls/s] [㎳]
mode Step
Singl
X 1 Rel. End position 0 7,000 0 1 100 10
e
Singl
Y 2 Rel. End Position 0 2,000 0 2 300 10
e

(c) Operation of the Program

• SST instruction is executed it the rising edge of M0001, which was used as the instruction signal of
the simultaneous starting is generated.
1) If the simultaneous starting instruction (SST) is executed, the two axes are simultaneously
started as set in the operand as follows.
2) Since sl is 0, built-in positioning of the basic unit operates simultaneous starting.
3) If the set value of ax does not exceed the setting range, it does not affect the operation.
4) Since the step numbers of axis X and axis Y are set 1 and 2 respectively, the two axes are
simultaneously started by using the operation data of the operation step.
5) Since there is no axis Z in XGB built-in positioning, even if a random value is input as the step
number of axis Z operation, the operation is not affected.

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Chapter 5 Positioning Instructions

5.2.7 Speed Position Switching Instruction

• This is positioning according to the target position by switching the axis operated by speed control to
position control through speed/position switching instruction (VTP instruction). For details, refer to
3.1.4.

(1) Speed/Position Switching Instruction (VTP)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
VTP 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
VTP VTP sl ax
[
[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the speed/position control switching instruction to XGB built-in positioning.
• The axis designated as ax at the rising edge in the input condition is switched from the speed
operation to position operation.
• The current position which was output during the previous speed control operation is initialized to
0 and operated to the target position by absolute coordinates method.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The program speed/position control switching instruction is described with the following example.

(a) Example of the Program

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Chapter 5 Positioning Instructions

(b) Device Used

Device Description Data size Example of setting

speed/position switching
M0001 BIT -
instruction signal
Signal during axis X speed
K4211 BIT -
control
K4201 axis X error BIT -

(c) Operation of the Program

• VTP instruction is executed when there is the rising edge of M0001, which was used as the
speed/position switching instruction signal.
• It the speed control is going on currently, it is switched into position control, the current position is
preset to 0, and position control is carried out up to the target position. Now the target position
divides into the following cases according to the direct and indirect starting.
1) In case of indirect starting, the target position of the operating step becomes the target position
after the speed position switching.
2) In case of direct starting, the target position set as the operand in the DST instruction becomes
the target position after the speed position switching
• When using the speed/position switching instruction, make sure that the instruction is not executed
during the position operation by using the display flag (axis X:K4211, axis Y:K4311) during speed
control as the program example above.

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Chapter 5 Positioning Instructions

5.2.8 Position Speed Switching Instruction

• This is operation by switching the axis operating by the current position control into speed control by
the position/speed switching instruction (PVT instruction). For details, refer to 3.1.5.

(1) Position/Speed Switching Instruction (PTV)

Areas available Flag

Instruction Cons Step Error Zero Carry
PMK F L T C S Z D.x R.x U N D R
tant (F110) (F111) (F112)
sl - - - - - - - - - ○ - - - -
PTV 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
PTV PTV sl ax

[
[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the position/speed control switching instruction to XGB built-in positioning.
• The axis designated as ax at the rising edge in the input condition is switched from the position
operation to speed operation.
• The current position which was output during the previous speed control operation is not initialized
to 0 and only the control method is switched to speed control with the operation continued.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The position/speed control switching instruction is described with the example of the following
program.

(a) Example of the Program

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Chapter 5 Positioning Instructions

(b) Device Used

Device Description Data size Example of setting

position/speed switching
M0001 BIT -
instruction signal
signal during axis X
K4210 BIT -
position control
K4201 axis X error BIT -

(c) Operation of the Program

• PVT instruction is executed when there is the rising edge of M0001, which was used as the
position/speed switching instruction signal.
• It the position control is going on currently, it is switched into speed control, and the current position
is not preset but only the control method is switched to speed control.
• When using the position/speed switching instruction, make sure that the instruction is not executed
during the speed operation by using the display flag (axis X:K4210, axis Y:K4310) during position
control as the program example above.
• To stop the operation after switching to speed control, use the stop instruction (STP).

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Chapter 5 Positioning Instructions

5.2.9 Deceleration Stop Instruction

• The currently operating axis is decelerated and stopped at the speed designated by the deceleration
stop instruction (STP instruction). For details, refer to 3.1.11.

(1) Deceleration Stop Instruction (STP)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
[ sl - - - - - - - - - ○ - - - -
STP ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
STP STP sl ax n1
[

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 deceleration time 0~65535 WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the deceleration stop instruction to XGB built-in positioning.
• The axis designated as ax at the rising edge of the input condition conducts deceleration stop for
the deceleration time set in the corresponding operation step.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

Remark

• If the deceleration time is set at 0, it stops right away without deceleration in XGB positioning. In
this case, note that there might be shock noise or damage to the motor.
• If the deceleration time of n1 is set at 0, it stops right away without deceleration. Otherwise, it
stops according to the operation data of the operation data and the acceleration/deceleration
number set in the DST instruction respectively in case of indirect starting and direct starting.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

• The deceleration stop instruction is described with the example of the following program.

(a) Example of the Program

(b) Device Used

Device Description Data size Example of setting

origin return instruction
M0000 BIT -
signal
Indirect starting instruction
M0001 BIT -
signal
Deceleration stop
M0002 BIT -
instruction signal
signal during axis X
K4200 BIT -
position control
K4201 axis X error BIT -

(c) Operation of the Program

• IST instruction is executed when there is the rising edge of M0001, which was used as the indirect
starting instruction signal.
- In the program above, the indirect starting of No. 1 step of axis X is executed.
• If there is the rising edge of M0002, which is the deceleration stop instruction signal during
operation, the deceleration stop instruction is executed according to the setting of STP instruction.
- Since sl (first Operand) and ax(second Operand) are set at 0, the deceleration stop is executed
for axis X of basic unit built-in positioning.
- Since the deceleration time is set at 0, if the STP instruction is executed, it stops right away
without deceleration.
• Note the following in executing the STP instruction.
- If it has been stopped by the deceleration stop instruction, because the positioning operation has
not been finished to the set target position, no positioning completion signal (axis X:K4202, axis
Y:K4302) is generated, and if M code is set, the M code signal does not turn On either.
- In this case, the operation step number maintains the current step.
- If the indirect starting instruction is executed again afterwards, the operation methods differs
according to the coordinates type.
1) Absolute coordinates: The remaining position output which has not been output from the
current operation step is output.
2) Incremental coordinates: Operation is conducted as much as the new target position.
- For example, if the target value of the corresponding step is 20,000 and it has been stopped at
15,000 by the deceleration stop instruction, and if the indirect starting is executed again, in case
of absolute coordinates, operation is done as much as 5,000 and stops at 20,000, and in case of
Incremental coordinates, it newly moves 20,000 and stops at 35,000.

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Chapter 5 Positioning Instructions

5.2.10 Main axis position synchronous Instruction

• As follows, this is the instruction for synchronous starting according to the current position of the
main axis with the axis set in the SSP being the auxiliary axis. For details, refer to 3.1.8.

(1) Main axis position synchronous Starting Instruction (SSP)

Areas available Flag

Instruction Cons Step Error Zero Carry
PMK F L T C S Z D.x R.x U N D R
tant (F110) (F111) (F112)
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
SSP n1 ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n2 ○ - ○ - - - ○ - - ○ - - ○ -
n3 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
SSP SSP sl ax n1 n2 n3

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
Position value of the main axis
n1 position synchronous main -2,147,483,648 ~ 2,147,483,647 DINT
axis
Operation step number of
n2 0~30(standard), 0~80(advanced) WORD
auxiliary axis
Setting of the main axis of
n3 0 (axis X) or 1 (axis Y) WORD
position synchronous

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is executing main axis position synchronous starting for the XGB built-in
positioning.
• The main axis position synchronous instruction is executed with the axis set in the axis designated
as ax at the rising edge of the input condition auxiliary axis, n3 being the main axis.

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Chapter 5 Positioning Instructions

• If the instruction is executed, the auxiliary axis stands by without generating actual pulse (the
operation status flag of the auxiliary axis (axis X:K4200, axis Y:K4300) turns On), and n2 step of
the auxiliary axis is started when n3 axis, which is the main axis, is positioned as set in n1.
• The position synchronous starting instruction can be executed only when the origins of both the
main axis and auxiliary axis are fixed. If the origin of the main axis is not decided when the main
axis position synchronous instruction (SSP) is started, error code 346 is issued, and if the origin of
the auxiliary axis is not decided when the main axis position synchronous instruction (SSP) is
started, error code 344 is issued.
• When you use the main axis position synchronous instruction, set the main axis and auxiliary axis
at different axes. If they are set at the same axis, error code 347 is issued.
• If you want to cancel the main axis position synchronous instruction after you executed it, execute
the stop instruction of the auxiliary axis (STP).

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The main axis position synchronous starting instruction is described with the example of the
following program.

(a) Example of the Program

• The following program example is starting No.1 step operation data of the auxiliary axis when axis
Y is the auxiliary axis and axis X is the main axis, and the position of the main axis is 10,000.

(b) Device Used

Device Description Data size Example of setting

main axis position
M0001 BIT -
synchronous instruction signal
M0002 main axis instruction signal BIT -
Signal during auxiliary axis
K4300 BIT -
(axis Y) position control
K4301 auxiliary axis(axis Y) Error BIT -
K4204 axis X origin fixed BIT -
K4304 axis Y origin fixed BIT -
Signal during the main
K4200 BIT -
axis(axis X) position control
K4201 main axis(axis X) Error BIT -

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Chapter 5 Positioning Instructions

(c) Operation of the Program

• The SSP instruction is executed if there is the rising edge of M0001, which was used as the main
axis position synchronous instruction signal.
Since the second operand is 1 (axis Y), axis Y is the auxiliary axis, and as the fifth operand is
0(axis X), so the main axis is axis X.
• No.1 step of axis X is indirectly started if there is the rising edge of M0002, which is the indirect
starting instruction signal of the main axis.
• When the current position of the main axis during operation becomes 10,000[Pulse], set in the third
operand of the SSP instruction, axis Y, which is the auxiliary axis, starts No. 1 step, which is the
operation step set in the fourth operand of the SSP instruction.

Remark
• When you use the main axis position synchronous instruction, if the axis set as the main axis
has already been started as the main axis position synchronous auxiliary axis, error code 349 is
issued and it is not executed. If the following example, axis Y becomes the auxiliary axis and
axis X becomes the main axis at the rising edge of M0001 and the main axis position
synchronous instruction is executed. If there is the rising edge of M0100, the position
synchronous instruction is issued with axis X being the auxiliary axis and axis Y being the main
axis. In this case, since axis Y used as the main axis, is already being started as the auxiliary
axis of the main axis position synchronous instruction, axis X generates error code 349 and is
not started.

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Chapter 5 Positioning Instructions

5.2.11 Speed Synchronous Instruction

• The speed synchronous instruction (SSS instruction) is for speed synchronization at the set
synchronous speed rate and operation when the main axis is started with the axis set in the
instruction being the auxiliary axis. For details, refer to 3.1.8.

(1) Speed Synchronous Starting Instruction (SSS)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
SSS n1 ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n2 ○ - ○ - - - ○ - - ○ - - ○ -
n3 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
SSS SSS sl ax n1 n2 n3

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 speed synchronous ratio 1 ~ 10,000(0.01% ~ 100.00%) WORD
n2 Delay time 1 ~ 10[㎳] WORD
n3 Speed delay main axis setting See 0 ~ 9 ‘(1) Function’ WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is for executing the speed synchronous starting for synchronous starting.
• The axis set in the axis designated as ax at the rising edge of the input condition auxiliary axis, n3
becomes the main axis and the speed main axis position synchronous starting instruction is
executed.
• If the instruction is executed, the auxiliary axis stands by without generating actual pulse (the
operation status flag of the auxiliary axis (axis X:K4200, axis Y:K4300) turns On), and nn3 axis,
which is the main axis, it is started according to the speed synchronous ratio set in n1.
• The synchronous ratio settable in n1 is 0.01% ~ 100.00% (set value 1 ~ 10,000). If the set speed
ratio gets out of this range, error code 356 is issued.
• The delay time of n2 refers to the delay time it takes for speed of the auxiliary axis to reach the
current main axis speed. In XGB built-in positioning, when controlling the speed synchronization,
the speed of the current main axis is detected every 500 ㎲, and thereby the speed of the
auxiliary axis is adjusted. If the speed of the auxiliary axis is synchronized to the current main axis
speed without a delay time and immediately changed, there might be damage or shock noise to
the motor due to the sudden change of the auxiliary axis speed.
For example, assuming the speed ratio is 100.00% and the delay time is 5[ms], if the speed of the
main axis is 10,000[pps], the XGB built-in positioning adjusts the speed of the auxiliary axis
according to the speed of the main axis every 500[㎲] by adjusting the current speed for the
speed of the auxiliary axis to reach 10,000[pps].
The longer the delay time, the longer the delay time between the main axis and auxiliary axis, but
the output pulse is stably output. If there is likely to be step out of the motor, lengthen the delay
time.

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Chapter 5 Positioning Instructions

• The delay time settable for n2 is 1 ~ 10[㎳]. If it gets out of the settable range, error code 357 is
issued.
• The main axis of n3 is settable between 0 and 9. If it gets out of the settable range, error code 355
is issued

Set Main axis setting Remark

value
0 axis X
1 axis Y
2 High speed counter Ch0
3 High speed countCh1
4 High speed countCh2
5 High speed countCh3
6 High speed counter Ch4
7 High speed counter Ch5 Only the advanced type is
8 High speed counter Ch6 settable.
9 High speed counter Ch7

• If you want to cancel the speed synchronous instruction after you execute it, execute the stop
instruction (STP) for the auxiliary axis.
• The speed synchronous control is executable even when the origin is not fixed.
• The speed synchronous control is synchronized to the speed of the main axis for operation of the
auxiliary axis, so even if the control method of the auxiliary axis is set as position control, starting
and stop are alternated by the operation of the main axis, with the rotation of the auxiliary axis
being in the same direction as the main axis.
• If the M code of the auxiliary axis is On when you execute the speed synchronous instruction, error
code 353 is issued.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The speed synchronous starting instruction is described with the example of the following program.

(a) Example of the Program

• The following program example is about speed synchronous starting with the synchronization ratio
100.00[%] and the delay time being 10[㎳] when the main axis is started if axis Y is the auxiliary
axis and axis X is the main axis.

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Chapter 5 Positioning Instructions

(b) Operation of the Program

• SSS instruction is executed if there is the rising edge of M0001, which was used as the speed
synchronous instruction signal. Since the second operand is 1(axis Y), axis Y becomes the
auxiliary axis, and because the fifth operand is 0(axis X), the main axis is axis X.
• If there is the rising edge of M0002, which is the indirect starting instruction signal of the main axis,
No. 1 step of axis X is indirectly started.
• When the main axis is started, axis Y is started at the synchronous ratio speed of 100.00[%] set in
the third operand of SSS instruction, and is synchronized to the main axis with the delay time of
10[ms] set in the fourth operand for operation.

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Chapter 5 Positioning Instructions

5.2.12 Position Override Instruction

• The position override instruction (POR) is for changing the target position of the axis being operated
for the current positioning into the target position set in the instruction. For details, refer to 3.1.10.

(1) position override instruction (POR)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
POR ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
POR POR sl ax n1

[Area Setting]
Operand Description Settable range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Target position to change -2,147,483,648 ~ 2,147,483,647 DINT

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the position override instruction to the XGB built-in positioning.
• This is changing the target position to the position set in n1 during the operation of the axis
designated as ax at the rising edge of the input condition.
• The position override instruction is available in the acceleration and deceleration sections and if
the position override is executed during dwell, error code 362 is issued.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The position override instruction is described with the example of the following program.

(a) Example of the Program

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Chapter 5 Positioning Instructions

(b) Operation of the Program

• The positioning axis X is indirectly started with operation step 1 when there is the rising edge of
M0000 used as the indirect starting instruction signal.
• If there is the rising edge of M0001 used as the instruction signal of the position override instruction
before the current position during operation reaches 100,000 [Pulse], operation continues by
changing the target position of the currently operating step into 100,000. (Note that the value of the
target position of No. 1 step set in the positioning parameter is not changed)
• If the position override instruction is executed when the current position has passed 100,000[Pulse],
it is decelerated and stops.
• If the position override instruction is executed during dwell operation, error code 362 is issued. To
prevent this, make the program by connecting the axis X dwell flag to the starting contact point
with the normally closed contact point (contact point B).

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Chapter 5 Positioning Instructions

5.2.13 Speed Override Instruction

• The speed override instruction (SOR) is for changing the operation speed of the axis during current
positioning operation into the speed set in the instruction. For details, refer to 3.1.10.

(1) Speed Override Instruction (SOR)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
SOR ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
SOR SOR sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Operation speed to change 0 ~ 100,000[pps] DWORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the speed override instruction to XGB built-in positioning.
• This is for changing the operation speed into the speed set in n1 during the operation of the axis
designated as ax at the rising edge of the input condition.
• The speed override instructions available in the acceleration and constant speed sections and if
the speed override is executed during deceleration or dwell, error code 377 is issued and the
currently operating operation step continues.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

• The speed override instruction is described with the example of the following program.

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Chapter 5 Positioning Instructions

(a) Example of the Program

(b) Operation of the Program

• The positioning axis X is indirectly started with operation step 1 if there is the rising edge of M0000
used as the indirect starting instruction signal.
• If there is the rising edge of M0001 used as the instruction signal of the speed override instruction
during operation, operation continues by changing the speed of the currently operating step into
10,000[pps]. (Note that the value of the operation speed of No. 1 step set in the positioning
parameter is not changed)
• If the speed override instruction is executed during deceleration or dwell, error code 377 is issued.
To prevent this, make the program by connecting the axis X dwell flag to the starting contact point
with the normally closed contact point (contact point B).

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Chapter 5 Positioning Instructions

5.2.14 Positioning Speed Override Instruction

• The positioning speed override instruction (PSO) is changing the operation speed of the axis during
current positioning operation at the specific position set in the instruction. For details, refer to 3.1.10.

(1) Positioning speed override instruction (PSO)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
PSO 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
n2 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
PSO PSO sl ax n1 n2

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Position to change the speed -2,147,483,648 ~ 2,147,483,647 DINT
n2 Operation speed to change 0 ~ 100,000[pps] DWORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the positioning speed override instruction to XGB built-in positioning.
• The positioning speed override is executed at the axis designated as ax at the rising edge of the
input condition, and if the current position reaches the position set in n1 during operation, the
current operation speed is overridden to the speed set in n2.
• The positioning speed override instruction is available in the deceleration and acceleration
sections and if the positioning speed override is executed during deceleration or dwell, no error
code is issued, but the instruction is not executed either.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0000 used as the indirect starting instruction signal, positioning axis X
is indirectly started with operation step 1.
• If there is the rising edge of M0001 used as the instruction signal of the positioning speed override
instruction during operation, operation continues by changing the operation speed to 15,000[pps]
when the position of the currently operating step reaches 50,000.

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Chapter 5 Positioning Instructions

5.2.15 Inching Starting Instruction

• The inching starting instruction (INCH) is moving to the position set in the instruction at the inching
speed set in the origin/manual parameter. For details, refer to 3.1.12.

(1) inching starting instruction (INCH)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
INCH ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
INCH INCH sl ax n1

[Area Setting]
Operand Description Setting range 줄 Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Position to move by inching -2,147,483,648 ~ 2,147,483,647 DINT

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the inching operation instruction to XGB built-in positioning.
• It moves to the position set in n1 at the inching speed set in the positioning parameter with respect
to the axis designated as ax at the rising edge of the input condition.
(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• I there is the rising edge of M0001 used as the inching starting instruction signal, positioning axis X
moves to position 150 at the inching speed set in the positioning origin/manual parameter.
• If the axis is in operation or inhibited from output during inching starting, it generates error code 401
and 402 respectively and no operation takes place.

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Chapter 5 Positioning Instructions

5.2.16 Starting Step Number Change Instruction

• The starting step number change instruction is for changing the number of the step to be operated
currently by force.

(1) Starting Step Number Change Instruction (SNS)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S D.x R.x stan U
Z N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
SNS ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
SNS SNS sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Step number to change 1~30(standard), 1~80(advanced) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the starting step instruction to XGB built-in positioning.
• The current step number of the axis designated as ax at the rising edge of the input condition
changes into the step set in n1.

• If the corresponding axis is operating when the starting step change instruction is executed, error
code 441 is issue and the instruction is not executed. If the set value of n1 gets out of the settable
range, error code 442 is issued and the instruction is not executed either.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0001 used as the starting step change instruction signal, the current
operation step number of positioning axis X changes into the step number set in D0100.

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Chapter 5 Positioning Instructions

5.2.17 M Code Cancel Instruction

• M code cancel instruction (MOF) is for cancelling the M code generated during operation. For details,
refer to 3.3.

(1) M code cancel instruction (MOF)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
MOF 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
MOF MOF sl ax

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to cancel M code 0 (axis X) or 1 (axis Y) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the instruction of cancelling the M code to XGB built-in positioning.
• The M code On signal (axis X: K4203, axis Y: K4303 bit) of the axis designated as ax at the rising
edge of the input condition and M code number (axis X : K428, axis Y:K438 word) are
simultaneously cancelled.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0001 used as the M code cancel instruction signal and if there is an
M code in positioning axis X, the M code On signal and M code number are cancelled.

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Chapter 5 Positioning Instructions

5.2.18 Current Position Preset Instruction

• The current position preset instruction (PRS instruction) is for changing the current position by force.

(1) Current Position Preset Instruction (PRS)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
PRS ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
PRS PRS sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
Current position value to
n1 -2,147,483,648 ~ 2,147,483,647 DINT
change

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the instruction of changing the current position to XGB built-in positioning.
• The current position of the axis designated as ax at the rising edge of the input condition is
changed to the position set in n1 of the instruction by force.
• If the origin is not fixed, the origin fixed status (axis X:K4202, axis Y:K4304) turns On and the
origin is fixed.
• If the current position preset instruction is executed, and if the axis is currently operating, error
code 451 is issued and the instruction is not executed.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0001 used as the current position preset, the current position of the
positioning axis X changes into 0, which has been set in the instruction, and the origin determining
bit turns On.

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Chapter 5 Positioning Instructions

5.2.19 Emergency Stop Instruction

• The emergency stop instruction is immediately stopping the current positioning operation and the
output. For details, refer to 3.1.11.

(1) Emergency Stop Instruction (EMG)

Areas available Flag

Instruction con Step Error Zero Carry

PMK F L T C S Z D.x R.x stan U N D R
(F110) (F111) (F112)
t
sl - - - - - - - - - ○ - - - -
EMG 4~7 ○ - -
ax ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
EMG EMG sl ax

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This is for giving the emergency stop instruction to XGB built-in positioning.
• With respect to the positioning of the axis designated as ax at the rising edge of the input condition,
the output immediately stops, the output stop status flag (axis X : K4205, axis Y:K4305) turns On,
and error code 481 is issued.
• If the emergency stop instruction is executed, output is inhibited and the origin gets undecided, so
in order to resume operation, set the origin return or floating origin or preset the current position to
decide the origin.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0001 used as the emergency stop instruction signal, the positioning
axis X immediately stops the current operation, issues error code 481 and inhibits output.

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Chapter 5 Positioning Instructions

5.2.20 Error Reset, Output Inhibition, Inhibition Termination

• The error reset instruction is resetting the current error and terminating the output inhibition.

(1) Error Reset Instruction (CLR)

Areas available Flag

Instruction Cons Step Error Zero Carry
PMK F L T C S Z D.x R.x U N D R
tant (F110) (F111) (F112)
sl - - - - - - - - - ○ - - - -
CLR ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
CLR CLR sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
Whether output inhibition is
n1 0 ~ 65,535 WORD
terminated

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is giving the error reset instruction to XGB built-in positioning.
• At the rising edge of the input condition, the error code generated in the axis designated as ax is
cancelled, and if the value set in n1 is 0, only the error code is cancelled, with the output inhibition
maintained. If the value set in n1 is other than 0, the output inhibition is also cancelled.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If the error and output inhibition are simultaneously generated due to the emergency stop, when
there is the rising edge of M0001 used as the error cancel instruction signal, only the error code of
axis X is cancelled but the output inhibition is not cancelled.
• If there is the rising edge of M0002 used as the error termination/output inhibition termination
instruction signal, the error code of axis X and output inhibition are cancelled together.

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Chapter 5 Positioning Instructions

5.2.21 Parameter/Operation Data Save

• The parameter save instruction (WRT) is permanently preserving the operation data of positioning
area K changed during operation in the XGB built-in flash memory. For the relations between
positioning area K and the positioning parameter, refer to 3.2.2.

(1) Parameter Save (WRT)

Areas available Flag

Instruction cons Step Error Zero Carry
PMK F L T C S Z D.x R.x U N D R
tant (F110) (F111) (F112)
sl - - - - - - - - - ○ - - - -
WRT ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
n1 ○ - ○ - - - ○ - - ○ - - ○ -
COMMAND
WRT WRT sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Not used in XGB 0 ~ 1(Dummy Operand) WORD
n1 Set the parameter to save 0~2 WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• The instruction is for permanently preserving the operation data of positioning area K in the XGB
built-in flash memory.
• The operation data of positioning area K are permanently preserved in the XGB built-in flash
memory according to the setting of n1 at the rising edge as follows.

Set value 0 1 2
Area k to be
permanently Positioning data High speed counter data PID control function data
preserved

• If n1 has been set at 0, the current operation data of area K of axis X and axis Y for positioning are
permanently preserved as the positioning parameter. If set at 1, the data of area K of all the
channels of the high speed counter are permanently preserved as the positioning parameter. If
set at 2, the data set in area K of 16 loop of the built-in PID are permanently preserved as the PID
parameter.
• Although the value set as ax is the operand that does not affect the execution of WRT instruction,
if it gets out of the setting range, instruction execution error flag (F110) turns On and the
instruction is not executed.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Operation of the Program

• If there is the rising edge of M0001 used as the parameter save instruction signal, the operation
data of area K of positioning axis X and axis Y are permanently preserved as the positioning
parameter of XGB built-in flash memory.

Remark
• If WRT instruction is executed, the previously saved positioning parameter is deleted and the
parameter is changed to the operation data of the current area K.
• Be careful that if WRT instruction is executed, the scan time of the scan where the instruction
has been executed because the previous positioning parameter of the flash memory is deleted
and the operation data of area K is written.

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Chapter 5 Positioning Instructions

5.2.22 Pulse Width Modulation

• Pulse Width Modulation is to operate On/Off output in designated Off duty rate and Output cycle.

(1) Pulse width Modulation (PWM)

Areas available Flag

Instruction cons Step Error Zero Carry
PMK F L T C S Z D.x R.x U N D R
tant (F110) (F111) (F112)
sl - - - - - - - - - ○ - - - -
ax ○ - ○ - - - ○ - - ○ - - ○ - 4~7 ○ - -
WRT
n1 ○ - ○ - - - ○ - - ○ - - ○ -
n2 ○ ○ ○ ○ ○
COMMAND
WRT WRT sl ax n1

[Area Setting]
Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 Output Cycle 1~20,000(ms) WORD
n2 Off duty rate 0~100(%) WORD

[Flag Set]
Flag Description Device number
Error If the value of ax gets out of the range F110

(a) Function
• This instruction is for PWM output.
• While the input condition is On state, XGB postioning outputs pulse train in designated cycle time
in n1 and designated Off duty rate in n2 at designated axis in ax
• During PWM output, current address don’t change. Constant speed bit(X axis: K0420D, Y axis:
K0430S) and Operation bit(X axis: K04200 Y axis: K4300) set On.

(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.

Remark
• If PWM instruction is executed, other instruction do not operate. And upper/lower limit does not
work

• If PWM instruction is executed, STP, EMG instruction doesn’t operate. To stop output, Off the
Start-up contact

• If output cycle is changed, when operating APM_PWM, it cannot be applied.

• PWM applicable version

-XBM-DNxxS: H/W from V2.0, O/S V3.10
-XBC-DN/DPxxH: O/S from V2.03
-XEC-DN/DPxxH: O/S from V1.50
-XBC-DN/DPxxSU: O/S from V1.10

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Chapter 5 Positioning Instructions

(2) Example of Use of the Instruction

(a) Example of the Program

(b) Used Device

Device 설 명

M00000 PWM output reference signal

K04201 X-axis error state

(c) Operation of the Program

• While M00000 is On which is used as output reference signal, PWM is operated.
(At this time, the X-axis is in operation or errorstatus, the instruction will not be executed.)
• If PWM executed, designated output cycle(500ms for this picture) and designated Off duty
rate(30% for this picture)

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5.3 Positioning Function Blocks (for XEC)

5.3.1 General for Function Block

In the XEC PLC, the input/output variables and their functions which are applied commonly for all the
function blocks used for internal positioning are as follows..

Classification Variable Data Type Description

Name
•Request for function block execution
- If the condition in connection with this area is
REQ BOOL
satisfied during the software running and 0→1
(edge or level), the function block is executed.
•Base Number
- This area is for setting up the number of the base
Input BASE USINT where the positioning module is mounted. (In the
Variables internal positioning of XGB, fix this to 0.)
•Slot Number
- This area is for setting up the number of the slot
SLOT USINT
where the positioning module is mounted. (In the
internal positioning of XGB, fix this to 0.)
•Number of the axis in use
AXIS USINT - X-axis: 0, Y-axis: 1
•Indicates completion of the function block execution
- If the function block is executed without error,
DONE BOOL
“1” is outputted and maintained until the next
execution. If erroneous, “0” is outputted.
Output •Error State Indication
Variables - This area indicates the number of the error
occurred in the start-up of the function block.
STAT UINT
(The errors occurred during operation are
indicated in the K area which outputs error
codes.)
Other I/O variables excluding the common variables presented in the above table are described
below.

(1) Common Error Codes for Function Block

The types and description of the common error codes which may occur in the starting up of the function
blocks related with internal positioning are as follows.
Error
Error Type Countermeasures
Code
0 Function block normally executed -
1 Base No. exceeded setting range Set the base No. to “0” for internal positioning.

3 Slot No. exceeded setting range Set the slot No. to “0” for internal positioning.
Adjust the axis No. within the allowable range of the
6 Axis range No. exceeded setting range
function block (0: X-axis, 1: Y-axis)
A new function block was executed
Modify the program so that a new function block can be
10 while the previous instruction has not
executed after completion of the previous instruction.
been completed
Set-up auxiliary input value exceeded
11 Adjust the value within the allowable range.
allowable range

For other error code, see “Appendix 1. Error Code List.”

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5.3.2 Function Block for Return to Origin

•Return to Origin instruction is usually used to confirm the Origin of machine when applying power.
This instruction is executed in accordance with the set-up parameters shown below (see 3.2.4 for
setting-up of the return-to-Origin parameters).

(1) Return to Origin Function Block (APM_ORG)

Form Description

•This instruction is for the execution of the Origin return of the XEC-DN**H internal
positioning function.
•At the ascending edge of the input condition, the return to Origin instruction is given
to the axis defined to be the axis of the internal positioning decision.
•After completing Origin return, the Origin determination bit (X-axis: %KX6724,Y-
axis: %KX6884) turns on and the present address is preset to the address setup with
the Origin return parameter.

(2) Related Device List

•The parameters related with the APM_ORG instruction and the exclusive K area devices are
presented in the table below.

Parameter Exclusive K Area

Data Type
Title Setting Range X-axis Y-axis Attribute
0: DOG/ Origin (Off) %KX7648 %KX8288 Bool
Origin returning Read/Writ
1: DOG/ Origin (On)
method %KX7649 %KX8289 e Bool
2: DOG
Origin returning Read/Writ
0: normal, 1: reverse %KX7650 %KX8290 Bool
direction e
-2,147,483,648∼ Read/Writ
Origin address %KD234 %KD254 DINT
2,147,483,647[pulse] e
Origin return high Read/Writ
1 ∼ 100,000[pps] %KD235 %KD255 UDINT
speed e
Origin return low Read/Writ
1 ∼ 100,000[pps] %KD236 %KD256 UDINT
speed e
Origin return Read/Writ
0 ~ 10,000[ms] %KW475 %KW515 UINT
accelerating time e
Origin return Read/Writ
0 ~ 10,000[ms] %KW476 %KW516 UINT
decelerating time e
Read/Writ
Dwell time 0 ~ 50,000[ms] %KW477 %KW517 UINT
e

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(4) Exemplary Instruction

•An example of return to Origin instruction execution is explained with the exemplary parameters and
sample program as presented below.
•The example of the APM_ORG instruction is with reference to the X-axis.

(a) Parameter Setting

Parameter
Title Value
Origin returning
1:DOG/HOME (On)
method
Origin returning
direction 1: reverse

Origin address 0
Origin return at
high speed 50,000 [pps]
Origin return at
500 [pps]
low speed
Origin return
100[㎳]
accelerating time
Origin return
100[㎳]
decelerating time
Dwell time 100[㎳]

(b) Sample Program

(c) Devices Used

Device Description
StartHoming Signal for X-axis Origin return start-up
%KX6720 Signal for X-axis in operation
%KX6721 X-axis in error status

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(d) Program Operation

At the ascending edge of the ‘starting-up Origin return’ used for the Origin return start-up signal for
X-axis, the APM_ORG instruction is executed. At this time, the X-axis is in operation or error
status, the instruction will not be executed.
1) When the Origin return instruction (APM_ORG) is executed, the operation will be
‘Origin return at high speed (50,000 pps)’ accelerated reversely as set up in the Origin return
parameter.
2) If an ascending edge of DOG signal occurs during the operation of Origin return at high speed, it
will be decelerated and operated at the Origin return at low speed (500 pps) set up in the
parameter. The decelerating time will be 100 ㎳ set up in the parameter.
3) If the Origin signal which is an external signal enters after being changed to Origin return at low
speed, the output is immediately stopped, and the Origin determination status flag (%KX6724)
is turned on after the dwell time (100ms) set up in the parameter. From the interruption of the
output to the turning On of the Origin determination status flag (%KX6724), there may be (dwell
time + 1 scan time) of delay.
4) Here, the present address will be preset to ‘0’ which is the address of the Origin set up in the
parameter.

DOG
(%IX0.0.12)

Home
(%IX0.0.13)

Start Homing
(%MX0)

Homing
(%KX6741)

Origin Fix
(%KX6724)

Note

•The DOG signal and Origin signal are fixed to the contact points shown below.

XEC-DNxxH
DOG Origin point
X-axis %IX0.0.12 %IX0.0.13
Y-axis %IX0.0.14 %IX0.0.15

•Take care that, if both the DOG and Origin input contact are used as the external preset
inputs of the high speed counter or as the start up signals for the external contact, the
Origin detection may become incorrect.
•During returning to Origin, the present position address is not changed.

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5.3.3 Function Block for Floating Origin Setting

•In floating Origin setting, the present position is set up as the Origin by instruction, without executing
mechanical operation of Origin return.

(1) Floating Origin setting instruction (APM_FLT)

Form Description

•This is the instruction for floating Origin setting in the XGB

internal positioning.
•At the ascending edge of the input condition, floating Origin instruction is given to
the axis selected as the axis for the XGB positioning.
•When this instruction is executed, the present position address becomes 0 and
the Origin determination bit (X-axis: %KX6724,Y-axis: %KX6884)
becomes On.

Note

•For floating Origin setting, the present position is preset to 0 and only Origin is determined.
Therefore, following cautions should be taken for this instruction.
 Before executing this instruction, check it an error has been occurred. If occurred, correct the
cause of the error and reset the error with APM_RST instruction to lift the output interruption.
 Then, set up the floating Origin and change the step No. for operation to the start-up step
change instruction (APM_SNS) and start-up.

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(2) Example of Instruction

•The floating Origin setting instruction is explained with a sample program shown
below.
•This exemplary APM_FLT instruction is with reference to the X-axis.

(a) Sample Program

(b) Used Devices

Device Description
Floating Origin X-axis floating reference instruction
Instruction signal
%KX6720 X-axis in-operation signal
%KX6721 X-axis error state

(c) Program Operation

•When the rising edge of the ‘floating reference instruction’ which was used as the X-axis
floating reference instruction signal is generated, the APM_FLT instruction is executed.
(However, the instruction is not executed if the X-axis is in operation or error.)
•When the APM_FLT instruction is executed, the Origins is determined at the present position
different from return to reference, and the Origin determination signal (X-axis: %KX6724) turns on
and the present address is preset to 0.

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5.3.4 Direct Start-up Function Block

•In direct start-up, the operation data such as target position or velocity is specified in the exclusive
positioning instruction (APM_DST instruction), not using the setting for operation steps set up in the
positioning operation data.

(1) Direct Start-up Instruction (APM_DST)

Data
Form Variable Description
Type

Target address (position)

ADDR DINT
● Setting range: -2,147,483,648 ~ 2,147,483,647

Operation velocity
SPEED UDINT ● Setting range: 0 ~ 100,000

Dwell time
DWELL DINT ● Setting range: 0 ~ 50,000

M Code No.
MCODE UINT
● Setting range: 0 ~ 65,635

Position/velocity control selection

POS_SPD BOOL
● Setting range: 0 ~ 1(0: position, 1: velocity)

Absolute/Incremental coordinates selection

ABS_INC BOOL
● Setting range: 0 ~ 1(0: absolute, 1: Incremental)

Acceleration/deceleration time numbering

● Setting range: 0 ~ 3
TIME_SEL USINT 0: Accl./Dec. time 1, 1: Accl./Dec. time 2,
2: Accl./Dec. time 3, 3: Accl./Dec. time 4

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(2) Sample Instruction

•Direct start-up instruction is explained with the sample program below.
•This exemplary APM_DST instruction is with reference to the X-axis.

(a) Sample Program

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(b) Used Devices

Device Description Data Size Exemplary Setting

Reference X-axis reference return
BOOL -
Decision instruction signal
Direct X-axis direct start-up
BOOL -
Start instruction signal
%KX6720 X-axis in-operation signal BOOL -
%KX6721 X-axis error state BOOL -
ADDR Target position DINT 100,000
SPEED Target velocity UDINT 30,000
DWELL Dwell time DINT 100
MCODE M code No. UINT 123
Position/velocity control
POS_SPD selection BOOL 0
Absolute/Incremental
ABS_INC coordinates selection BOOL 0

TIME_SEL Acce/dec. time numbering BOOL 0

(d) Program Operation

•APM_DST instruction is executed when the rising edge of the direct start-up used as the X-
axis direct start-up instruction signal is generated. However, if X-axis is in operation or
error state, the instruction is not executed.
•If reference has not been defined at the start of DST, error code 224 is outputted to STAT_1 and
the instruction is not executed.
In such case, turn on the ‘reference determination’ signal ON and perform reference return with
APM_ORG instruction before starting-up the APM_DST instruction.

1) When the direct start-up instruction (APM_DST instruction) is executed, positioning operation is
started as set up in the operand as shown below.
- Because the BASE, SLOT and AXIS are 0, the built-in positioning X-axis of the
base unit is started.
- The target position is the 100,000 pulse set up in ADDR as DINT.
- The target velocity is 30,000 pps set up in SPEED as UDINT.
- After the positioning, the dwell time is 100ms set up in the DWEELL, and as for M code, the
123 stored in the MCODE is stored in the %KW428.
- Because POS_SPD and ABS_INC are 0, positioning control operation is based on absolute
coordinates. Since TIME_SEL is 0, the acceleration/deceleration pattern follows 1 which is
the acceleration time in the basic parameters.
In particular, when the APM_DST instruction is started, positioning is controlled in absolute
coordinates, operated at 30,000 pps up to 100,000 pulse position and stopped, and
positioning is completed after 100ms of dwell time and the M code outputs 123.

2) When the position has been determined by direct start-up, the position determination completion
signal (X-axis: %KX6722) turns on for one scan.

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5.3.5 Indirect Start-up Function Block

•In the indirect start-up, position determination operation is performed with the operation step data set
up in the position determination operation data.

(1) Indirect Start-up Instruction (APM_IST)

Data
Form Variable Description
Type

Operation step No.

STEP UINT ● Setting range: 0 ~ 80

(a) Function
•This instruction provides an indirect start-up reference to the XGB built-in positioning.
•At the rising edge of input condition, indirect start-up is executed in the axis defined to be the axis
of XGB positioning.
•When the instruction is executed, positioning is performed using the operation data in the K area
according to the step No. designated to the STEP. If the STEP is 0, the operation step indicated at
the step No. (X-axis: %KW426, Y-axis: %KW436 word) in the exclusive K area is executed.
•With indirect operation instruction, diversified composition and execution of operation patterns can
be implemented, such as termination, continue, continuous, single, or repeated operation, etc.

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(2) Sample Instruction

•Indirect start-up instruction is explained with the sample program shown below.
•The sample IST instruction is described with reference to X-axis.

(a) Sample Program

(b) Used Devices

Device Description Data Size Setting Examples

Reference X-axis reference return
BOOL -
Determination instruction signal
X-axis indirect start-up
Indirect Start BOOL -
instruction signal
%KX6720 X-axis in-operation signal BOOL -
%KX6721 X-axis error state BOOL -
STEP Start-up step No. UINT 3

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Step Coordi Op. Contro Op. Rep. Target M Accl/de Op. Speed Dwell
No. nate Pattern l Type Type Step Pos. [Pulse] Code c. No. [pls/s] Time [㎳]
3 Rel. Term. Pos. Sing. 0 7,000 0 1 100 10

(c) Program Operation

•When the rising edge of the ‘Indirect Start-up’ uses as the X-axis indirect start
reference signal is generated, the APM_IST instruction is executed. However, if X-axis is
in operation or error state, the instruction is not executed.
•If the Origin has not been defined at the start-up of the APM_IST, error code 224 is outputted to the
STAT_1 and the operation is not executed.
In such case, turn the ‘Reference Decision’ on to execute APM_ORG instruction to return to
reference before starting the APM_IST instruction.

1) When direct start-up instruction (APM_IST instruction) is executed, positioning operation

is started as set up in the instruction line operand as set forth below.
- Since the BASE, SLOT and AXIS are 0, the built-in positioning X-axis of the base
unit is started up.
- Because the start-up step No. was appointed by 3, positioning operation is carried out with
the data in the No. 3 step of the positioning operation data.
In particular, when the APM_IST instruction is stated, positioning is carried out as set up in the
operation data No. 3 step in Incremental coordinates, move to 7,000 pulse position at 100 pps
velocity and stop, and after 10ms of dwell time, the positioning is completed.
2) Here, as the M code was set to 0, it is not generated, and as the operation pattern is terminated,
the step No. X-axis: %KW426 of the exclusive K area is changed to 4 which is the (present
operation step + 1).

IndirectStart
(%MX321)

Dwell
(%KX6735)

Complete
(%KX6722)

Note

•In addition to using indirect start instruction, indirect start can be done using the start signal
reference contact (X-axis: %KX6864, Y-axis: %KX7024) in the K area.

 In the start-up using the start signal reference contact, the operation step is
fixed to the present operation step number which is X-axis: %KW426, Y-
axis: %KW436.
 Therefore, to change operation step in starting –up using start signal reference contact,
change the operation step with starting step number change instruction (APM_SNS) and
then turn the start reference contact ON.
•For the details of the starting method using starting signal reference, see 3.4.2.

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5.3.6 Linear Interpolation Start-up Function Block

•In linear interpolation start-up, both X and Y axes are used in the manner that the movement paths of
the 2 axes, from the start address (present stationary position) to the target address (position), is
linear.
•This method can be classified into absolute coordinates control and Incremental coordinates control.
For details, see 3.1.2.
•At the linear interpolation start-up instruction, the axis having greater movement for positioning
becomes the main axis automatically. If the 2 axes move the same distance, X-axis is set up as the
main axis.
•Here, the velocity of the subsidiary axis does not follow the setting of the operation data. The
operation velocity, accelerating and decelerating times, and bias velocity are calculated automatically
with the formula below to perform the operation.

•The operation patterns available for linear interpolation are termination and continuous operation only.
If the interpolation operation is started when the main axis is set up to be continuous, the XGB
internal positioning does not trigger error and performs the operation of the main axis by changing it
to be continuous. If the sub-axis is set to be continuous, it does not affect linear interpolation.

(1) Linear Interpolation Start-up Instruction (APM_LIN)

Data
Form Variable Description
Type

● Interpolation operation axis

Axis information
LIN_ Setting Operation
USINT Y- X-
AXIS value axis
axis(BIT1) axis(BIT0)
ON(1) ON(1) 3 X,Y

Operation step No.

STEP UINT
● setting range: 0 ~ 80

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(2) Sample Instruction

(a) Sample Program

(b) Used Device

Device Description Data Size Example
Reference X-axis reference return
BOOL -
Decision instruction signal
Interpolation Interpolation start reference
BOOL -
Start signal
%KX6720 X-axis in-operation signal BOOL -
%KX6721 X-axis error state BOOL -
LIN_AXIS Axis information USINT 3
STEP Operation step No. UINT 10

Contr
Step Coord Op. Op. Rep. Target M Accl/de Op. Speed Dwell
Axis ol
No. inate Pattern Type Step Pos. [Pulse] Code c. No. [pls/s] Time [㎳]
Type
X 10 Rel. Term. Pos. Sing. 0 7,000 0 1 100 10
Y 10 Rel. Term. Pos. Sing. 0 2,000 0 2 300 10

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(d) Program Operation

•At the rising edge of the ‘Interpolation Start-up’ used as the linear interpolation start-up reference
signal, the APM_LIN instruction is executed. If X-axis is in operation or error condition, it is not
executed. If Y-axis is in operation, error code 242 is outputted to STAT_1 and operation is not
performed.

1) When linear interpolation instruction (APM_LIN) is executed, linear interpolation

operation is carried out as set up in the instruction operand as set forth below.
2) Since the BASE and SLOT are 0, the internal positioning of the base unit performs
linear interpolation operation.
3) Since the STEP operation step No. was set to 10, main and sub-axes are automatically selected
with the No. 10 operation data of the X-axis and Y-axis. In this example, since the target
position of the X-axis is larger, X-axis becomes the main the Y-axis becomes the sub-axis.
4) Here, the velocity and the accelerating and decelerating times of the sub-axis Y do not follow
the set up values but automatically calculated for operation.
5) in particular, with the APM_LIN instruction, the X-axis and Y-axis become main and sub-axes,
respectively, and travels by (7000, 2000) in elative position basis before operation stopped.

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5.3.7 Simultaneous Start-up Function Block

•Simultaneous start-up instruction (APM_SST) starts the steps of the 2 axes designated in the
instruction simultaneously. For details, see 3.1.7.

(1) Simultaneous Start-up Instruction(APM_SST)

Data
Form Variable Description
Type

● Simultaneous start-up operation axis

Axis information
SST_ Setting Operation
USINT Y- X-
AXIS Value axis
axis(BIT1) axis(BIT0)
ON(1) ON(1) 3 X,Y

Operation step No.

X_STEP UINT
● Setting range: 0 ~ 80

Operation Step No.

Y_STEP UINT
● Setting range: 0 ~ 80

Z_STEP UINT Dummy variable

(a) Function
•This instruction gives simultaneous start-up reference to the XGB internal positioning.
•At the rising edge of the input condition, the 2 axes of the XGB positioning are started up
simultaneously. See 3.1.7 for the difference between using simultaneous start up instruction and
continuous start up of 2 axes continuously with PLC ladder programming.
•When this instruction is executed, of the XGB’s positioning axes, X and Y axes are simultaneously
started up using the operation data set up at X_STEP and Y_STEP for X-axis and Y-axis,
respectively. Here, since the XGB internal positioning has no Z-axis, the set value of Z_STEP does
not have influence on the operation.

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(2) Exemplary Instruction

•The sample program below is provided to explain the operation of the simultaneous start-up
instruction.

(d) Sample Program

(e) Used Devices

Device Description Data Size Exemplary Setting

Simultaneous Simultaneous start reference
BOOL -
Start signal
%KX6720 X-axis in-operation signal BOOL -
%KX6721 X-axis error state BOOL -
%KX6880 Y-axis in-operation signal BOOL -
%KX6881 Y-axis error state BOOL -
SST_AXIS Axis setting USINT 3
X_STEP X-axis operation step No. UINT 1
Y_STEP Y-axis operation step No. UINT 2
Z_STEP Z-axis operation step No. UINT -

Contr
Step Coord Op. Op. Rep. Target M Accl/de Op. Speed Dwell
Axis ol
No. inate Pattern Type Step Pos. [Pulse] Code c. No. [pls/s] Time [㎳]
Type
X 1 Coor. Term. Pos. Sing. 0 7,000 0 1 100 10
Y 2 Coor. Term. Pos. Sing. 0 2,000 0 2 300 10

(f) Program Operation

•At the occurrence of the rising edge of the simultaneous start-up used for the simultaneous start-up
reference signal, the APM_SST instruction is executed.
1) When the simultaneous start-up instruction (APM_SST) is executed, the 2 axes start up
simultaneously as set up in the instruction operands set forth below.
2) Since the BASE and SLOT are 0, the internal positioning of the base unit performs
simultaneous start-up.
3) Since the operation step numbers of the X and Y axes are set to 1 and 2 respectively, the 2
axes start up simultaneously using the operation data set up in the operation steps.
4) Since the XGB internal positioning has no Z-axis, the Z-axis operation step No. has no influence
on the operation.
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5.3.8 Velocity to Position Transfer Function Block

•Velocity/Position transfer instruction (APM_VTP) changes the axis presently in velocity control to
position control and determines position to the target position. For details, see 3.1.4.

(1) Velocity/Position Transfer (APM_VTP)

Form Description

•This instruction provides XGB internal positioning with velocity/position transfer

reference.
•At the rising edge of the input condition, the axis designated as the AXIS is
transferred from velocity operation to position operation.
•At this time, the present position outputted from the previous velocity control
operation is initialized to 0 and the system operates in absolute coordinates
system to the target position.

(2) Sample Instruction

•The sample program below shows the operation of the velocity/position control transfer instruction.

(a) Sample Program

(b) Used Devices

Device Description Data Size Exemplary Setting

Velocity/Position Velocity/Position Transfer
BOOL -
Transfer reference signal
X-axis in-velocity-control
%KX6737 BOOL -
signal
%KX6721 X-axis error state BOOL -

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(c) Program Operation

•At the occurrence of the rising edge of the velocity to position transfer used as the velocity to
position transfer reference signal, the VTP instruction is executed.
•if presently under velocity control, the mode is changed to position control and the present position
is preset to 0 and position control is carried out until the target position. At this time, the target
position is classified as follows according to being in the indirect or direct start-up.
1) If presently in indirect start up, the target position of the step in operation becomes the target
position after transfer from velocity to position control.
2) If presently in direct start up, the target position value set up as the operand with the APM_DST
instruction becomes the target position after transfer from velocity to position control.
•When using this velocity/position transfer instruction, as shown in the sample program above, use
the indicator flag (X-axis: %KX6737, Y-axis: %KX6897) during velocity control to prevent
instruction from being executed during position operation.

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5.3.9 Position Velocity Transfer Function Block

•This APM_PTV instruction changes the axis presently in position control to velocity control. For
details, see 3.1.5.

(1) Position/Velocity Transfer Instruction (APM_PTV)

Form Description

•This instruction provides position/velocity transfer reference to the XGB internal

positioning.
•At the rising edge of the input condition, the axis designated as the AXIS is
transferred from position operation to velocity operation.
•At this time, the present position obtained from the previous velocity control
operation is not initialized to 0, and only the control mode is changed from
position to velocity to continue to operate.

(2) Sample Instruction

•The sample program below shows the operation of the position/velocity control transfer
instruction.

(a) Sample Program

(b) Used Devices

Device Description Data Size Exemplary Setting

Position/Velocity Position/Velocity transfer
BIT -
Transfer reference signal
X-axis in-position control
%KX6736 BIT -
signal
%KX6721 X-axis error state BIT -

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(c) Program Operation

•At the occurrence of the rising edge of the position/velocity transfer signal used as the
position/velocity transfer reference signal, the PTV instruction is executed.
•Present position control mode is changed to velocity control mode. The present position is not
preset and only control mode is changed.
•After changed to velocity control, to stop operation, used the stop instruction (APM_STP).
•When using this position/velocity transfer instruction, as shown in the sample program above, use
the position control indicator flag (X-axis: %KX6736, Y-axis: %KX6896) to prevent instruction from
being executed during velocity operation.

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5.3.10 Deceleration Stop Function Block

•This APM_STP instruction decelerates a running axis at the rate specified in the instruction to stop it.
For the details of the stop function in positioning operation including deceleration stop, see 3.1.11.

(1) Decelerate to Stop Instruction (APM_STP)

Form Variable Data Type Description

Deceleration time
DEC_TIME UINT
● Setting range: 0 ~ 65,535

[
(a) Function
•This instruction executes deceleration stop to XGB internal positioning.
•At the rising edge of the input condition, the axis designated to be the AXIS decelerates and stops
at the deceleration time set up in the respective operation step.

Note

•It the deceleration time setting is 0, the XGB positioning stops immediately without waiting the
time for deceleration. In this case, the motor may make impact sound by shock, which requires
caution.
•If the DEC_TIME setting is 0, the positioning stops immediately without deceleration process. For
other setting values, it stops according to the acceleration/deceleration number set up in the
operation data of the respective operation step or in the APM_DST instruction, in case of
indirect start-up or direct start-up, respectively.

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(2) Sample Instruction

•The sample program below show the exemplary operation of the deceleration stop.

(a) Sample Program

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(b) Used Devices

Exemplary
Device Description Data Size
Setting
Return to Reference Return to Home instruction signal BIT -
Indirect starting Indirect start-up reference signal BIT -
Deceleration stop Deceleration stop reference signal BIT -
%KX6720 X-axis in position control signal BIT -
%KX6721 X-axis error state BIT -

(d) Program Operation

•At the rising edge of the ‘Indirect Start-up’ signal used as the indirect start-up reference signal, the
Installation instruction is executed.
- In the above program, indirect start-up for the No. 1 step of the X-axis is executed.
•At the rising edge of the ‘Deceleration Stop’ signal used as the deceleration stop during operation
reference signal, the deceleration stop instruction is executed in accordance with the setting of the
STP instruction.
- Since the BASE, SLOT and AXIS are set to 0, deceleration stop is executed to the X-axis of the
internal positioning of the base unit.
- At this time, since the deceleration time setting is 0, the STP instruction will result in immediate
stop without deceleration time.
• For APM_STP instruction execution, take care of followings;
- When stopping by deceleration stop instruction, positioning operation is not completed until the
set up target position. Therefore, position determination completed signal (X-axis: %KX6722, Y-
axis: %KX6882) is not created, and if M code was set up, the M code signal is not turned on,
neither.
- In this case, the present operation step No. is maintained.
- If indirect start-up instruction is executed again later, operation method varies by coordinate
system.
1) In absolute coordinate system: output the residual position output not outputted in the
present operation step.
2) In Incremental coordinate system: operates for the new target position value.
- For example, if the target value of the respective step is 20,000 and was stopped at position of
15,000 by deceleration stop instruction, and if the indirect start-up instruction is executed again;
in absolute coordinate system, the system travels for the rest value of 5,000 and stops at
position 20,000, and; in Incremental coordinate system, the system travels 20,000 again and
stops at 35,000.

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5.3.11 Position Synchronization Function Block

•As shown below, this is a synchronous start-up instruction with the axis set up by the position
synchronization instruction (APM_SSP) as the sub-axis according to the present position of the main
axis. For details, see 3.1.8.

(1) Position Synchronization Start-up Instruction (APM_SSP)

Form Variable Data Type Description

Operation step No.

STEP UINT
● Setting range: 0 ~ 80

MST_ Main axis

USINT
AXIS ● Setting range: 0 ~ 1(0: X-axis, 1: Y-axis)

MST_ Target position of main axis

DINT
ADDR ● Setting range: -2,147,483,648 ~ 2,147,483,647

(a) Function
•This instruction executes position synchronization start-up to the XGB internal
positioning.
•At the rising edge of the input condition, synchronized start-up instruction is executed, where, the
axis designated as AXIS is the sub-axis and that designated in the MST_AXIS is the main axis.

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•When the instruction is executed, the sub-axis does not out real pulses (at this time, the in-
operation-state flag (X-axis: %KX6720, Y-axis: %KX6880) of the sub-axis is ON), and the STEP
of the sub-axis starts up when the main axis MST_AXIS is at the position set up in the
MST_ADDR.
•The position synchronization instruction can be executed only when the Origins for both of the
main axis and sub-axis have been determined. if the Origin of the main axis or sub-axis has not
been determined at the start of the APM_SSP instruction, error code 346 or 344, respectively, will
be outputted to STAT.
•When using this instruction, set up the main axis and sub-axis with different axis. Otherwise, error
code 347 will be outputted to STAT.
•To cancel the execution of position synchronization instruction after it is given, execute the stop
instruction (APM_STP) to the sub-axis.

(2) Sample Instruction

•the sample program below shows the operation of the position synchronization start-up
instruction.

(a) Sample Program

•In the sample program below, where the Y-axis is the sub-axis and X-axis is the main axis, when
the main axis position is at 100,000, the operation data in the No. step of the sub-axis is started
up.

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(b) Used Devices

Device Description Data Size Exemplary Setting

Position Sync. Position synchronization reference signal BIT -
Indirect start Main axis indirect start reference signal BIT -
Sub-axis (Y-axis) position being
%KX6880 BIT -
controlled signal
%KX6881 Sub-axis (Y-axis) in error state BIT -
%KX6724 X-axis reference determined state BIT -
%KX6884 Y-axis reference determined state BIT -
Main axis (X-axis) position being
%KX6720 BIT -
controlled signal
%KX6721 Main axis (X-axis) in error state BIT -

(c) Program Operation

•At the rising edge of the ‘position synchronization’ signal used as the position synchronization
reference signal, APM_SSP instruction is executed.
At this time, since the AXIS is 1 (Y-axis), Y-axis is the sub-axis and as the MST_AXIS is 0 (X-axis),
X-axis is the main axis.
•At the rising edge of the ‘indirect start-up’ signal which is the indirect start-up reference signal of the
main axis, No. 1 step of the X-axis starts indirectly.
•During operation, when the present position of the main axis reaches 100,000 [Pulse] set up in the
MAST_ADDR of the APM_SSP instruction, the Y-axis which is the sub-axis starts up the operation
step (No. 1) set up in the STEP of the APM_SSP instruction.

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Note
•If the axis set up as the main axis has been started up as the sub-axis of position
synchronization, error code 349 is outputted to STAT and the position synchronization
instruction is not executed.
In the example shown below, at the rising edge of the ‘Y-axis position synchronization,’ position
synchronization instruction is executed with the Y-axis as the sub-axis and the X-axis as the
main axis. In this state, if a rising edge of the ‘X-axis position synchronization’ signal occur, the
position synchronization instruction reference is generated with the X-axis as the sub-axis and
the Y-axis as the main axis. In this case, because the Y-axis which is used as the main axis has
already been started up as the sub-axis of the position synchronization instruction, the X-axis
outputs error code 349 to the STAT1 and is not started.

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5.3.12 Speed Synchronization Function Block

•This instruction (APM_SSSB) is for the operation at synchronized speed at the preset rate with the
axis set up in the instruction as the sub-axis when the main axis is started up. For details of speed
synchronization function, see 3.1.8.

(1) Speed Synchronization Start-up Instruction (APM_SSSB)

Form Variable Data Type Description

● Main axis setting range
Setting Main Axis Setting Main Axis
Value Setting Value Setting
0 X-axis 5 High Speed
Counter Ch3
1 Y-axis 6 High Speed
MST_
USINT Counter Ch4
AXIS
2 High Speed 7 High Speed
Counter Ch0 Counter Ch5
3 High Speed 8 High Speed
Counter Ch1 Counter Ch6
4 High Speed 9 High Speed
Counter Ch2 Counter Ch7

Speed ratio of sub-axis

SLV_RAT UINT
● Setting range: 1 ~ 10,000(0.01 ~ 100.00%)

Sub-axis delay time

DELAY USINT
● Setting range: 1 ~ 10(1 ~ 10ms)

(a) Function
•This is the instruction for executing speed synchronized start-up to the XGB internal positioning.
•At the rising edge of the input condition, speed position synchronized start-up instruction is
executed with the AXIS as the sub-axis and the axis designated in the MST_AXIS as the main
axis.
•When the instruction is executed, the sub-axis does not output real pulse (at this time, the in-
operation-state flag (X-axis: %KX6720, Y-axis: %KX6880) of the sub-axis is ON), and when the
main axis MST_AXI starts, the sub-axis starts at the speed synchronization ratio set up in the
AXIS.
•The synchronization ratio which can be set up in the SLV_RAT is 0.01% ~ 100.00% (setting value
1 ~ 10,000). If the setting exceeds this range, error code 356 is created.
•The DELAY time is the time required for the speed of the sub-axis to reach the present speed of
the main axis. In the XGB internal positioning function, for speed synchronization control, the
present speed of the main axis is detected at every 500 ㎲ to control the speed of the sub-axis.
Here, if the speed of the sub-axis is synchronized to that of the main axis without delay time, the
motor and drive may receive excessive impact.
For example, when the speed synchronization ratio is 100.00% and delay time is 5[ms], and if the
present speed of the main axis is 10,000[pps], XGB internal positioning adjusts the speed of the
sub-axis so that it’s speed is the same as that of the main axis after 5[㎳] at every 500[㎲].
When the delay time is longer, the synchronization time delay between the main and sub-axes is
longer but the output pulse is more stable. If there is the possibility that the motor may lose
synchronism, set the delay time longer.
•The range of the delay time that can be set up in DELAY n2 is 1 ~ 10[㎳]. If this range is exceeded,
error code 357 is generated.

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•The range of the main axis setting of MST_AXIS is 0 ~ 9 as shown below. If this range is exceeded,
error code 355 is generated.
•To cancel the execution of speed synchronization instruction, run the stop instruction (APM_STP)
for the sub-axis.
•Speed synchronization control can be executed even when the Origin of the sub-axis has not be
determined.
•In speed synchronization, the sub-axis is synchronized to the main axis. Therefore, even if the
control mode of the sub-axis is set up position control, it repeats start and stop according to the
operation of the main axis, and the direction of rotation of the sub-axis is the same as that of the
main axis.
•If the M code of the sub-axis is ON at the execution of the speed synchronization instruction, error
code 353 is outputted to STAT.

(2) Sample Instruction

•The program below is to show exemplary operation of speed synchronization start instruction.

(a) Sample Program

•In the sample program below with the Y-axis as the sub-axis and the X-axis as the main axis, the
speed synchronization start-up is executed at the synchronization ratio of
100.00[%] and delay time of 10[㎳] when the main axis is started-up.

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(b) Program Operation

•At the rising edge of the ‘Y-axis speed synchronization’ signal used as the speed synchronization
reference signal, the APM_SSSB instruction is executed. Here, since the AXIS is 1 (Y-axis), Y-axis
is the sub-axis and as the MST_AXIS is 0 (X-axis), X-axis is the main axis.
•At the rising edge of the ‘indirect start-up’ signal which is the indirect start-up reference signal, the
No. 1 step of the X-axis starts indirectly.
•When the main axis starts up, Y-axis is started-up at the synchronization ratio of 100.00[%] set up in
the third operand of the APM_SSSB instruction and synchronized to the main axis by 10[ms] of
delay time.

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5.3.13 Position Override Function Block

•The position override instruction (APM_POR) changes the target position of the axis which is
presently in positioning operation to the target position set up in the instruction. For details, see
3.1.10.

(1) Position Override Instruction (APM_POR)

Form Variable Data Type Description

POR_ Position
DINT
ADDR ● Setting range: -2,147,483,648 ~ 2,147,483,647

(a) Function
•This instruction provides position override reference to the XGB internal positioning.
•At the rising edge of the input condition, the axis designated as AXIS changes its target position to
the position set up in the POR_ADDR during operation.
•Position override instruction is available for the acceleration, constant speed, and deceleration
sections of operation patterns. If position override instruction is executed during dwelling, error
code 362 is outputted to STAT.

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(2) Sample Instruction

•The sample program below show exemplary operation of position override.

(c) Sample Program

(d) Program Operation

•At the rising edge of the ‘indirect start-up’ signal which is the reference signal for indirect start-up,
positioning X-axis is started up indirectly by operation step No. 1.
•If the rising edge of the ‘position override reference’ signal used as the reference signal for the
position override instruction occurs before the present position reaches 100,000[Pulse] during
operation, the operation continues by changing the target position of the step presently in
operation to 100,000. Take care that the target position value of the No.1 step set up with the
positioning parameter itself is not changed.
•If position override instruction is executed after the present position has passed 100,000[Pulse],
deceleration stop occurs.
•If position override instruction is executed while the operation state is in dwelling, error code 362 is
outputted to STAT. To prevent this, the start-up contact should be connected with the X-axis dwell
status flag as normally closed (B contact) in the program.

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5.3.14 Speed Override Function Block

•Speed override instruction (APM_SOR) changes the operating speed of the axis presently in
positioning operation to the speed set up in the instruction line. For the details of speed override
function, see 3.1.10.

(1) Speed Override Instruction (APM_SOR)

Form Variable Data Type Description

SOR_ Operating Speed

UDINT
SPD ● Setting range: 1~100,000

(a) Function
•This instruction provides speed override reference to the XGB internal positioning.
•At the rising edge of the input condition, the axis designated to be AXIS changes its operating
speed to the speed set up in SOR_SPD.
•Speed override instruction is available for the acceleration, constant speed, and deceleration
sections of operation patterns. If speed override instruction is executed during deceleration or
dwelling, error code 377 is outputted to STAT, and the present operating step does not stop and
continues running.

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(2) Sample Instruction

•The sample program below shows exemplary operation of speed override instruction.

(c) Sample Program

(d) Program Operation

•At the rising edge of the indirect start-up signal used as the reference for indirect start up signal,
positioning X-axis is started up indirectly by the operating step No. 1.
•If the rising edge of the ‘speed override reference’ signal used as the reference signal for the speed
override instruction occurs during operation, the operation continues by changing the operating
speed of the present operation step to 10,000[pps]. Take care that the speed value of the No.1
step set up with the positioning parameter itself is not changed.
•If speed override instruction is executed while the operation state is in deceleration or dwelling, error
code 377 is outputted to STAT. To prevent this, the start-up contact should be connected with the
X-axis dwell status flag as normally closed (B contact) in the program.

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5.3.15 Positioning Speed Override Function Block

•This instruction (APM_PSO) changes the operating speed of the axis which is presently in positioning
operation, at the position specified in the instruction line. For the details of this function, see 3.1.10.

(1) Positioning Speed Override Instruction (APM_PSO)

Form Variable Data Type Description

Target position
PSO_ADDR DINT
● Setting range: -2,147,483,648 ~ 2,147,483,647

Operating Speed
PSO_SPD UDINT
● Setting range: 1~100,000

(a) Function
•This instruction provides positioning speed override reference to the XGB internal positioning.
•At the rising edge of the input condition, the axis designate as the AXIS executes positioning speed
override. When the present position reaches the points set up in the PSO_ADDR during
operation, present speed is overridden by the speed set up by the PSO_SPD.
•This instruction is available in the acceleration and constant speed sections of the operation
patterns. If this override is executed during deceleration or dwelling, no error code is generated
but the instruction is not executed.

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(3) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the ‘Indirect Start-up’ signal used as the indirect start-up reference signal, the
positioning X-axis is started indirectly by operation step No.1.
•If the rising edge of the ‘PSO start reference signal, which is used as the reference signal for the
positioning speed override instruction, occurs during operation, operation continues by changing
the speed to 15,000[pps] at the moment when the position of the present operation step reaches
50,000.

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5.3.16 Inching Start Function Block

•This instruction (APM_INC) is for the movement at the inching speed set up by the positioning
Origin/manual parameter in the instruction. For details about inching operation, see 3.1.12.

(1) Inching Start Instruction (APM_INC)

Form Variable Data Type Description

Inching Distance
INCH_VAL DINT
● Setting range: -2,147,483,648 ~ 2,147,483,647

(a) Function
•This instruction provides inching operation reference to the XGB internal positioning.
•At the rising edge of the input condition, the axis designated as AXIS moves by the distance and
speed set up by the INCH_VAL and positioning parameter, respectively.

(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the inching start signal used as the reference signal for inching start, the
positioning X-axis moves by 150 at the inching speed in Incremental coordinate set up in the
positioning Origin/manual parameter.
•At inching start, if the axis is in operation or being prohibited from output, error codes 401 and 402,
respectively, are outputted to STAT and does not operate.

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5.3.17 Start Step Number Change Function Block

•This instruction (APM_SNS) changes the number of the step to be operated.

(1) Start Step No. Change Instruction (APM_SNS)

Form Variable Data Type Description

Operation Step No.

STEP UINT
● Setting range: 1 ~ 80

(a) Function
•This instruction provides start step change reference to the XGB internal positioning.
•At the rising edge of the input condition, the present step number of the axis designated to be AXIS
is changed to the step set up in the STEP.
•If the axis has been in operation when this instruction is given, error code 441 is generated and the
instruction is not executed. If the setting value in the STEP exceeds allowable range, error code
442 is generated and the instruction is not executed.

(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the ‘operation step change’ signal used as the reference signal, the present
operation step No. of the positioning X-axis is changed to the step No. set up in the STEP.

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5.3.18 M Code Release Function Block

•This instruction (APM_MOF) cancels the M code generated during operation.

For details of the M code, see 3.3.

(1) M Code Release Instruction (APM_MOF)

Form Description

•This instruction provides M code release reference to the XGB internal positioning.
•At the rising edge of the input condition, the M code On signal (X-axis: %KX6723, Y-
axis: %KX6883) and the M code number (X-axis: %KW428, Y-axis: %KW438) of
the axis designated as AXIS are cancelled.

(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the ‘M code release’ signal used as the reference signal, and if M code is
generated to the positioning X-axis, the ON signal and the number of the M code are cancelled.

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5.3.19 Present Position Preset Function Block

•This instruction (APM_PRS) changes present position.

(1) Present Position Preset Instruction (APM_PRS)

Form Variable Data Type Description

Preset Value
PRS_ADDR DINT
● Setting range: -2,147,483,648 ~ 2,147,483,647

(a) Function
•This instruction provides position change reference to the XGB internal positioning.
•At the rising edge of the input condition, the present position of the axis designated to be AXIS is
changed to the position set up at the PRS_ADDR in the instruction line.
•At this time, if the Origin has not been defined, the Origin determination status (X-axis: %KX6724,
Y-axis: %KX6884) becomes ON.
•It the axis has been in operation when this instruction is given, error code 451 is outputted to STAT
and the instruction is not executed.

(2) Sample Instruction

(a) Sample Program

(b) Program Operation

• At the rising edge of the ‘preset’ signal, the position of the positioning X-axis is changed to 0 set up
in the instruction and the reference determination state bit is ON.

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5.3.20 Emergency Stop Function Block

•Emergency stop instruction immediately stops present operation and cuts off output.
For details of this function, see 3.1.11.

(1) Emergency Stop Instruction (APM_EMG)

Form Description

•Provides emergency stop reference to the XGB internal positioning.

•At the rising edge of the input condition, both internal positioning X-axis and Y-axis
are stopped without deceleration process, status flag (X-axis: %KX6725, Y-
axis: %KX6885) is On, and error code 481 is outputted to STAT.
•When this instruction has been executed, output is cut off and Origin is
undetermined. To resume operation, Origin must be determined by reference
return, floating reference setting, or present position preset function.

(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the ‘emergency stop’ signal used as the reference signal, both X-axis and Y-
axis of the XEC internal positioning stop operation immediately. Error code 481 is generated and
output is cut off.

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5.3.21 Error Reset, Output Cut-off Release Function Block

•This instruction reset present error and releases output cut-off.

(1) Error Reset Instruction (APM_RST)

Form Variable Data Type Description

Output cut-off release

● Setting range: 0 ~ 1
INH_OFF BOOL
(0: output cut-off not released, 1: output cut-off
released)

(a) Function
•This instruction provides error reset reference to the XGB internal positioning.
•At the rising edge of the input condition, the error code applied to the axis designated as the AXIS
is released. At this time, if the setting value of the INH_OFF is 0, only the error code is released
but the output cut-off is maintained, and it the value is 1. output cut-off is released too.

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(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•When error and output cut-off have been applied by emergency stop, at the rising edge of the ‘error
reset’ signal which is used as the reference signal for error reset, the error code of the positioning
X-axis only is released and the output cut-off is not released.
•At the rising edge of the ‘Error_Output Cut-off Release’ signal used as the reference signal, both the
error code and output cut-off of the positioning X-axis are released.

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5.3.22 Parameter/Operation Data Write Function Block

•Parameter Write instruction (APM_WRT) writes the operation data, which is changed during operation,
of the positioning exclusive K area permanently in the built-in flash memory of the XGB. For the
relation between the positioning exclusive K area and the positioning parameter, see 3.2.2.

(1) Parameter Write Instruction (APM_WRT)

Data
Form Variable Description
Type
•This instruction provides reference to the XGB internal
positioning for permanent preservation of the operation data
of the exclusive K area.
•At the rising edge of the input condition, as shown below,
saves the operation data of the exclusive K area respective
of the n1 setting in the flash memory device of the XGB,
permanently.
Setting Value 0 1 2
High Speed
K area to be Positioning PID Control
Counter
preserved Data Data
Data

•If WRT_AXIS is set to 0, the present operation data in the

WRT_AXIS USINT exclusive K area of the positioning functions X-axis and Y-
axis are permanently stored as the positioning parameters.
If it is set to 1, the setting data in the exclusive K area of all
the high speed counter channels are stored permanently as
the high speed counter parameters.
If it is set to 2, the setting data in the exclusive K area in the
internal PID’s 16 loop are stored permanently as the PID
parameters.

•At this time, although the value set up with AXIS is the
operand which does not have influence on the execution of
the APM_WRT instruction, however, be careful that, if it
exceeds the setting range (0 ~ 1), 11 is outputted to STAT
and the instruction is not executed.

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(2) Sample Instruction

(a) Sample Program

(b) Program Operation

•At the rising edge of the ‘store positioning data’ signal used as the parameter saving reference
signal, the operation data in the exclusive K area of the positioning functions X-axis and Y-axis are
permanently stored as the parameters in the XGB’s flash memory.

Note
•Take care that, when the APM_WRT instruction is executed, the positioning parameters
previously stored are replaced with the operation data of the exclusive K area.
•Take care that when APM_WRT instruction is executed, the existing positioning parameters in
the flash memory are replaced with the operation data in the exclusive K area, therefore, the
scan time of the scan in which the instruction has been executed becomes longer.

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5.3.23 Pulse Width Modulation

• Pulse Width Modulation is to operate On/Off output in designated Off duty rate and Output cycle.

(1) Parameter Write Instruction (APM_WRT)

Data
Form Variable Description
Type

Output cycle
FREQ WORD
● Setting rage: 1~20,000(ms)

DUTY Off duty rate

WORD
● Setting range: 1 ~100(%)

(a) Fuction
• This instruction is for PWM output.
• While the input condition is On state, XGB postioning outputs pulse train in designated cycle time
in FREQ and designated Off duty rate in DUTY at designated axis in AXIS
• During PWM output, current address don’t change. Constant speed bit(X-axis: %K%6733, Y-
axis: %KX6893) and Operation bit(X- axis: %KX6720, Y- axis:%KX6880) set On.

(2) Example of Use of the Instruction

(a) Sample Program

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(b) Used Device

Device 설 명

MX0 PWM output reference signal

%KX6721 X-axis error state

(c) Operation of the Program

• While MX0 is On which is used as output reference signal, PWM is operated.
(At this time, the X-axis is in operation or errorstatus, the instruction will not be executed.)
• If PWM executed, designated output cycle(500ms for this picture) and designated Off duty
rate(30% for this picture)

Remark
• If APM_PWM instruction is executed, other instruction do not operate. And upper/lower limit
does not work

• If APM_PWM instruction is executed, STP, EMG instruction doesn’t operate. To stop output, Off
the Start-up contact

• If output cycle is changed, when operating APM_PWM, it cannot be applied.

• PWM applicable version

-XBM-DNxxS: H/W from V2.0, O/S V3.10
-XBC-DN/DPxxH: O/S from V2.03
-XEC-DN/DPxxH: O/S from V1.50
-XBC-DN/DPxxSU: O/S from V1.10

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Chapter 6 Positioning Monitoring Package

6.1 Introduction to Positioning Monitoring Package
You can monitor the status of XGB PLC built-in positioning and carry out test operation without the program by
changing the parameters and operation data if you use the XGB monitoring package.

6.1.1 Introduction of Positioning Monitoring Package

• You can easily and conveniently monitor the current positioning operation or change the parameter or
operation data by using the following positioning monitoring package with XGB PLC connected to XG5000.
• If you use the positioning monitoring package, you can easily carry out test operation without the program,
adjust the parameter and operation data, and permanently save it in PLC after the adjustment.
• This chapter describes how to run the XGB positioning monitoring package.
• XGB positioning monitoring package is available with over XG5000 V1.2 (over V2.2 for XBC, over V3.0 for
XEC), and it is carried out in the following sequence. (This manual has been made by using XG5000
V2.2)

(1) Opening the Monitoring Package

• Select ‘Monitoring’ Æ ‘Special Module Monitoring’ with XGB PLC connected to XG5000, the special
module monitoring display is invoked as follows.
(If XGB is not connected to XG5000, ‘Special Module Monitoring’ is inactivated in the ‘Monitoring’
menu. Thus make sure that XGB is connected to XG5000 before using positioning monitoring.)

• When you want to carry out the positioning monitoring package, double click on the positioning
module or select the positioning module, and then click on the ‘Monitoring’ button at the bottom. And
the positioning monitoring package is started as follows.

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Chapter 6 Positioning Monitoring Package

• The menu and function of the positioning monitoring package are as follows.

Items Functions Remark

Monitors the positioning of the axis or gives commands.

Checks and modifies the positioning parameter of each axis.

Checks and modifies the operation data of axis X.

Checks and modifies the operation data of axis Y.

Carried out positioning monitoring.

Stops positioning monitoring.

Permanently saves the changed parameter and operation data in WRT

PLC. function

Saves the changed parameter and operation data in XG5000 project.

• For details of each menu, refer to 6.2.

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Chapter 6 Positioning Monitoring Package

6.2 Menus and Functions of Positioning Monitoring

The following is the function and use of the menus of the XGB monitoring package.

6.2.1 Monitoring and Command

• The positioning monitoring package consists of the command window for positioning test operation and
positioning monitoring window as shown above.
• If you click on the ‘Start Monitor’ button at the left bottom of the package, the monitoring and command
function is activated to make various commands and current status monitoring functions available.
• If you start the command on the left, the corresponding functions are activated without the program and the
status is displayed on the monitoring window on the right.

(1) Positioning Command

• The commands available in the positioning monitoring package are as follows.
• To execute an command, enter the setting of the command, and click on the ‘Run’ button (「<<」,「<」,
「||」,「>」,「>>」 during jog operation).
Item Description Command Remark

Direct start with the operation step set in the monitoring window IST 5.2.4
Indirect start
APM_IST 5.3.5

Error reset Resets the error code and output inhibition in case of an error CLR 5.2.20
APM_RST 5.3.21

Directly starts with the position, speed, dwell, M code, acc./dec.

DST 5.2.3
Direct start number, coordinates and control method set in the monitoring
APM_DST 5.3.4
window

M code OFF Cancels the M code On signal and M code number MOF 5.2.17
APM_MOF 5.3.18

Dec. stop Carries out deceleration stop in the set deceleration time STP 5.2.9
APM_STP 5.3.10

EMG stop Stops the operation of the axis and inhibits pulse output EMG 5.2.19
APM_EMG 5.3.20

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Chapter 6 Positioning Monitoring Package

Item Description Command Remark

Spd override Overrides the speed at the set speed value SOR 5.2.13
APM_SOR 5.3.14

Pos override Overrides the position at the set position value POR 5.2.12
APM_POR 5.3.13

Spd override with Changes the operation speed at the speed value set in the set PSO 5.2.14
position position APM_PSO. 5.3.15

Conducts home return as the home return method set in the ORG 5.2.1
Home return
positioning parameter APM_ORG 5.3.2

Sets the current position as the fixed home FLT 5.2.2

FLT
APM_FLT 5.3.3

Position preset Presets the current position with the set value PRS 5.2.18
APM_PRS 5.3.19

Start step No. Changes the start step with the set step SNS 5.2.16
APM_SNS 5.3.17

Conducts inching operation to the set position (inching amount) at INCH 5.2.15
Inching
the inching speed set in the positioning parameter APM_INC 5.3.16

Conducts jog operation at the jog speed set in the parameter -

Jog
Reverse Reverse Jog stop Normal low Normal
high speed low speed speed high
speed

Spd position Changes from speed control to position control VTP 5.2.7
conversion APM_VTP 5.3.8

Position spd Changes from position control to speed control PTV 5.2.8
conversion APM_PTV 5.3.9

Spd synchronous Speed synchronous operation at the set main axis, speed ration SSS 5.2.11
operation and delay time APM_SSS 5.3.12

Position Speed synchronous operation at the set main axis, step and SSP 5.2.10
synchronous position APM_SSP 5.3.11
operation

Simultaneous start Simultaneous start with the operation step set for each axis SST 5.2.6
APM_SST 5.3.7

Straight Straight interpolation operation for axes X and Y with the set LIN 5.2.5
interpolation operation step APM_LIN 5.3.6
operation

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Chapter 6 Positioning Monitoring Package

Remark

• Note that the positioning command through the XGB positioning monitoring package is executed
regardless of the operation mode of PLC.
• If the PLC operation mode is Run mode, the positioning command is executed in the positioning
monitoring package, and if a different command is executed in the instruction of the program, XGB
PLC executes them both.
Therefore, in such a case, it might operate differently from the intent of the user or an error might
occur.
Note that if you use the positioning monitoring package, positioning by the instruction in the program is
not executed.

(2) Positioning Monitoring Window

• The monitoring window on the right of the monitoring package displays the current status according to the
positioning command.
• The information displayed in the positioning monitoring window is as follows.
(a) In case of XBM/XBC
Related flag
Item Displays Remark
Axis X Axis Y

Current position Current position of each axis K422 K432 DINT

Current speed Current speed of each axis K424 K434 DINT

Step No. Currently operating step of each axis K426 K436 WORD

Error code Error code in case of an error of the axis K427 K437 WORD

M code M code of the currently operating step K428 K438 WORD

Busy Whether the axis is operating K4200 K4300 BIT

Positioning Whether the positioning has been completed for the axis K4202 K4302
BIT
complete

M code On M code On/Off of the currently operating step K4203 K4303 BIT

Origin fix Whether the origin has been fixed K4204 K4304 BIT

Output inhibit Whether output is inhibited K4205 K4305 BIT

Upper limit Whether the upper limit is detected K4208 K4308

BIT
detection

Lower limit Whether the lower limit is detected K4209 K4309

BIT
detection

EMG stop Emergency stop K420A K430A BIT

Normal/reverse Normal and reverse rotation K420B K430B

BIT
rotation

The operation status of each axis (acc., dec., constant K420C~ K430C~
Operation status BIT
speed, and dwell) K420F K430F

Operation control pattern of each axis (position, speed, K4210~ K4310~

Control pattern BIT
interpolation) K4212 K4312
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Chapter 6 Positioning Monitoring Package

Related flag
Item Displays Remark
Axis X Axis Y
Home return Whether home return is being conducted K4215 K4315 BIT

Position Sync Whether position synchronization is being conducted K4216 K4316 BIT

Speed Sync Whether position synchronous operation is being K4217 K4317

BIT
conducted

Jog high speed Whether jog high speed operation is being conducted K4219 K4319 BIT

Jog low speed Whether jog low speed operation is being conducted K4218 K4318 BIT

Inching Whether inching operation is being conducted K421A K431A BIT

(b) In case of XEC

Related flag
Item Displays Remark
Axis X Axis Y

Current position Current position of each axis %KD211 %KD216 DINT

Current speed Current speed of each axis %KD212 %KD217 DINT

Step No. Currently operating step of each axis %KW426 %KW436 WORD

Error code Error code in case of an error of the axis %KW427 %KW437 WORD

M code M code of the currently operating step %KW428 %KW438 WORD

Busy Whether the axis is operating %KX6720 %KX6880 BIT

Positioning Whether the positioning has been completed for the axis %KX6722 %KX6882
BIT
complete

M code On M code On/Off of the currently operating step %KX6723 %KX6883 BIT

Origin fix Whether the origin has been fixed %KX6724 %KX6884 BIT

Output inhibit Whether output is inhibited %KX6725 %KX6885 BIT

Upper limit Whether the upper limit is detected %KX6728 %KX6888

BIT
detection

Lower limit Whether the lower limit is detected %KX6729 %KX6889

BIT
detection

EMG stop Emergency stop %KX6730 %KX6890 BIT

Normal/reverse Normal and reverse rotation %KX6731 %KX6891

BIT
rotation

%KX6732 %KX6892
The operation status of each axis (acc., dec., constant
Operation status ~ ~ BIT
speed, and dwell)
%KX6735 %KX6895

%KX6736 %KX6896
Operation control pattern of each axis (position, speed,
Control pattern ~ ~ BIT
interpolation)
%KX6738 %KX6898

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Chapter 6 Positioning Monitoring Package

Related flag
Item Displays Remark
Axis X Axis Y
Home return Whether home return is being conducted %KX6741 %KX6901 BIT

Position Sync Whether position synchronization is being conducted %KX6742 %KX6902 BIT

Speed Sync Whether position synchronous operation is being %KX6743 %KX6903

BIT
conducted

Jog high speed Whether jog high speed operation is being conducted %KX6744 %KX6904 BIT

Jog low speed Whether jog low speed operation is being conducted %KX6745 %KX6905 BIT

Inching Whether inching operation is being conducted %KX6746 %KX6906 BIT

(3) Positioning External Input Signal Monitoring

• The external signal monitoring at the bottom of the monitoring window displays the status of the external
input contact point, which is the fixed input contact point for the axes as follows.

Contact No.
Item Displays Type Remark
Axis X Axis Y
XBM P00001 P00003
Upper
External upper limit signal status of the axes XBC P00009 P0000B
limit signal
XEC %IX0.0.9 %IX0.0.11

XBM P00000 P00002

Lower
External lower limit signal status of the axes XBC P00008 P0000A
limit signal
XEC %IX0.0.8 %IX0.0.10

XBM P00004 P00006

Approximate
Approximate origin signal status of the axes XBC P0000C P0000E
origin signal
XEC %IX0.0.12 %IX0.0.14

XBM P00005 P00007

Origin signal Origin signal status of the axes XBC P0000D P0000F

XEC %IX0.0.13 %IX0.0.15

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Chapter 6 Positioning Monitoring Package

6.3 Parameter/Operation Data Setting Using Monitoring Package

You can change the positioning parameter and operation data of XGB PLC and do test operation by using the
XGB monitoring package.

6.3.1 Changing the Position Parameter

(1) How to Change the Parameter

• You can change the position parameter by using the position monitoring package. Note that the change
of the parameter is applied when the next operation is started after the currently operating step ends.
• If you select ‘Position Parameter’ tab in the positioning monitoring package, the window appears where
you can change the positioning basic parameter and the origin/manual parameter and the parameter
saved in XG5000 is displayed as well.

• To change the parameter, first of all, change the parameter value to change, and select ‘Write PLC’.
Then the changed parameter is transferred to PLC, the position parameter saved in PLC is changed,
and the parameter and operation data that have been changed are applied when the next operation
step is started.

Remark

• If you execute ‘Write PLC,’ the position parameter set in the positioning monitoring package and
the operation data of each axis are all transferred to XGB.
• The parameter and operation data displayed when the positioning monitoring package is executed
are not the data read from XGB but the parameter and operation data currently saved in XG5000.
Therefore if you change the parameter or operation data in the positioning monitoring package
and save them in the XGB PLC, be sure to press the ‘Save Project’ button to save them in the
XG5000 project. Otherwise the settings of XG5000 might be different from XGB.

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Chapter 6 Positioning Monitoring Package

6.3.2 Change of Position Operation Data

(1) How to Change the Position Operation Data

• You can change the operation data of each axis during operation by using the positioning monitoring
package. Note that the change of the operation data is applied when the next operation is started after
the currently operating step ends.
• If you select the ‘axis X data’ or ‘axis Y data’ tabs in the positioning monitoring package, the window is
invoked where you can set the operation data of each axis as follows along with the operation data
saved in XG5000.

• To change the operation data, first of all, change the operation data value to change, and select ‘Write
PLC’. Then the changed operation data is transferred to PLC, the operation data saved in PLC is
changed, and the parameter and operation data that have been changed are applied when the next
operation step is started

Remark

• If you execute ‘Write PLC,’ the position parameter set in the positioning monitoring package and
the operation data of each axis are all transferred to XGB.
• The parameter and operation data displayed when the positioning monitoring package is executed
are not the data read from XGB but the parameter and operation data currently saved in XG5000.
Therefore if you change the parameter or operation data in the positioning monitoring package
and save them in the XGB PLC, be sure to press the ‘Save Project’ button to save them in the
XG5000 project. Otherwise the settings of XG5000 might be different from XGB.
• For details, refer to 3.2. and 3.3.

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Chapter 7 Program Examples of Positioning

Chapter 7 Program Examples of Positioning

This chapter describes the program examples of the instructions of XGB positioning function.

7.1 System Composition and Setting of Input and Output

• This section describes the setting of the positioning system and the input and output signals for the
program example of XGB positioning. If there is no separate description, all the example programs
addressed in Chapter 7 were made according to the settings of the input and output signals described
in this chapter.

(1) XBM-DNxxS system configuration

Remark
• Be sure to set the basic parameter positioning as ‘1:Use’ when you use the positioning
function.

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Chapter 7 Program Examples of Positioning

(2) XBC(XEC)-DNxxH system configuration

BCD Digital switch

Servo motor

Servo driver

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Chapter 7 Program Examples of Positioning

7.2 Program Examples

7.2.1 Floating Origin Setting/Single Operation

• The example program of the single operation after the floating origin setting by using the XGB
positioning function is as follows.
(1) XBM/XBC

(a) Devices Used

Device Description
P0040 Axis X error reset, output inhibition cancel switch
P0041 Axis X axis X floating origin switch
P0047 Start switch of axis X
K4200 Signal during axis X operation
K4201 Error signal of axis X
K4290 Axis X start

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 Axis X axis X floating origin switch
%IX0.1.7 Start switch of axis X
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6864 Axis X start

(3) Operation Data Setting

Operation
Step coordi Operatio Operatio Target position Acc./Dec. Dwell time
Control pattern Repeat step M code speed
No. nates n pattern n type [pulse] No. [㎳]
[pls/s]

Abso Position
1 End Single 0 10,000 0 1 1000 100
lute control
Abso Position
2 End Single 0 20,000 0 1 1500 100
lute control
Abso Position
3 End Single 0 30,000 0 1 2000 100
lute control

(4) Operation Sequence

• P0041/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position
• 3 times of P0047/%IX0.1.7 (start) switch On : 3 times of single operation (steps 1~3). If it is
operating now, the start instruction is not executed.

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Chapter 7 Program Examples of Positioning

7.2.2 Straight Interpolation Operation

• The example program of the straight interpolation operation after the floating origin is set is as follows.
(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 floating origin switch
P000F Straight interpolation start switch
K4200 Signal during operation of axis X
K4201 Signal of axis X error
K4300 Signal during operation of axis Y
K4301 Signal of axis Y error

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Chapter 7 Program Examples of Positioning

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 floating origin switch
%IX0.1.7 Straight interpolation start switch
%KX6720 Signal during operation of axis X
%KX6721 Signal of axis X error
%KX6880 Signal during operation of axis Y
%KX6881 Signal of axis Y error

(3) Operation Data Setting

Operation
Step coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Axis Repeat step M code speed
No. es pattern pattern type [pulse] No. [㎳]
[pls/s]

Position
X 1 Absolute End Single 0 10,000 0 1 1000 100
control
Position
Y 1 Absolute End Single 0 5,000 0 1 1000 100
control

(4) Operation Sequence

• P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
• P000E/%IX0.1.7 (straight interpolation start) switch On : the straight interpolation start of axes X-Y
is started.

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Chapter 7 Program Examples of Positioning

7.2.3 Deceleration Stop

• The example program of deceleration stop during operation is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X floating origin switch
P000A axis X deceleration stop switch
P000F axis X start switch
K4200 Signal during axis X operation
K4201 Error signal of axis X

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Chapter 7 Program Examples of Positioning

(1) XEC

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 axis X floating origin switch
%IX0.1.2 axis X deceleration stop switch
%IX0.1.7 axis X start switch
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X

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Chapter 7 Program Examples of Positioning

(3) Operation Data Setting

Operation
Step coordina Operatio Operatio Target position Acc./Dec. Dwell time
Control pattern Repeat step M code speed
No. tes n pattern n type [pulse] No. [㎳]
[pls/s]

1 Absolute Position control End Single 0 10,000 0 1 1000 100

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000F/%IX0.1.7 (start) switch On : indirect start of axis X is started.
•P000A/%IX0.1.2 (deceleration stop) switch On : Since the deceleration time is not 0 when the
deceleration stop instruction is given, it does deceleration stop for the deceleration time (100ms) of
the currently operating step.

7.2.4 Setting of Operation Step/Single Operation

• The example program of conducting the single operation by setting the operation step is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Error reset, output inhibition cancel switch
P0009 Floating origin switch
P000C Operation step change switch
P000F axis X start switch
K4200 Signal during axis X operation
K4201 Error signal of axis X

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Chapter 7 Program Examples of Positioning

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Error reset, output inhibition cancel switch
%IX0.1.1 Floating origin switch
%IX0.1.4 Operation step change switch
%IX0.1.7 axis X start switch
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X

(3) Operation Data Setting

Operation
Step coordi Operatio Operatio Target position Acc./Dec. Dwell time
Control pattern Repeat step M code speed
No. nates n pattern n type [pulse] No. [㎳]
[pls/s]

Abs Position 100

1 End Single 0 10,000 0 1 1,000
olute control
Abs Position
2 End Single 0 20,000 0 1 1,500 100
olute control
Abs Position
3 End Single 0 30,000 0 1 2,000 100
olute control

Abs Position
10 End Single 0 50,000 0 1 1,000 100
olute control
Abs Position
11 End Single 0 60,000 0 1 1,500 100
olute control
Abs Position
12 End Single 0 70,000 0 1 2,000 100
olute control

(4) Operation Sequence

• P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
• BCD/SNS_STEP switch input: enters the operation step to change in P004(enters 10 in this
example).
• P000C/%IX0.1.4(operation step change) switch On : the currently operating step changes into 10.
• P000F/%IX0.1.7(axis X start) On : indirect start is conducted with the changed step (10).

7.2.5 Setting of Operation Step/Speed Control

• The program example of conducting speed control by setting the operation step is as follows.
(1) XBM/XBC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
P0008 Error reset, output inhibition cancel switch
P0009 floating origin switch
P000C Operation step changing switch
P000F axis X start switch
P000A Deceleration stop switch of axis X
K4200 Signal during axis X operation
K4201 Error signal of axis X

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Error reset, output inhibition cancel switch
%IX0.1.1 floating origin switch
%IX0.1.4 Operation step changing switch
%IX0.1.7 axis X start switch
%IX0.1.2 Deceleration stop switch of axis X
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X

(3) Operation Data Setting

Operation
Step coordi Operatio Operatio Target position Acc./Dec. Dwell time
Control pattern Repeat step M code speed
No. nates n pattern n type [pulse] No. [㎳]
[pls/s]

Abs Position 100

1 End Single 0 10,000 0 1 1,000
olute control
Abs Position
2 End Single 0 20,000 0 1 1,500 100
olute control
Abs Position
3 End Single 0 30,000 0 1 2,000 100
olute control

Abs Speed
10 End Single 0 50,000 0 1 1,000 100
olute control
Abs Position
11 End Single 0 60,000 0 1 1,500 100
olute control
Abs Position
12 End Single 0 70,000 0 1 2,000 100
olute control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•BCD/SNS_STEP switch input: enters the operation stop to change in P004 (enters 10 in this
example).
•P000C/%IX0.1.4 (operation step change) switch On : the current operating step changes into 10.
•P000F/%IX0.1.7(axis X start) On : indirect start is conducted with the changed step (10).
•P000A/%IX0.1.2 (deceleration stop) switch On : axis X, which is being operated with speed control,
is decelerated and stopped by the deceleration time of the current step.

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Chapter 7 Program Examples of Positioning

7.2.6 Simultaneous Start

• The program example of simultaneous start of axes X, Y is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 axes X and Y error reset, output inhibition cancel switch
P0009 axes X and Y floating origin switch
P000E simultaneous start switch of axes X and Y
K4200 Signal during axis X operation
K4201 Error signal of axis X
K4300 Signal during axis Y operation
K4301 Axis Y error signal

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Chapter 7 Program Examples of Positioning

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 axes X and Y error reset, output inhibition cancel switch
%IX0.1.1 axes X and Y floating origin switch
%IX0.1.6 simultaneous start switch of axes X and Y
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6880 Signal during axis Y operation
%KX6881 Axis Y error signal

(3) Operation Data Setting

Operation
Step coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Axis Repeat step M code speed
No. es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolu Position
X 1 End Single 0 10,000 0 1 1000 100
te control
Absolu Position
Y 2 End Single 0 20,000 0 1 2000 100
te control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000F/%IX0.1.6 (simultaneous start) switch On : axis X simultaneously starts step 1, and axis Y
does step 2.

7.2.7 Position Synchronous Start

• The program example of position synchronous start is as follows.

(1) XBM/XBC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
P0008 axes X and Y error reset, output inhibition cancel switch
P0009 axes X and Y floating origin switch
P000D Axis X position synchronous switch
P000F Indirect start switch f axis Y
K4200 Signal during axis X operation
K4201 Error signal of axis X
K4300 Signal during axis Y operation
K4301 Axis Y error signal

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 axes X and Y error reset, output inhibition cancel switch
%IX0.1.1 axes X and Y floating origin switch
%IX0.1.5 Axis X position synchronous switch
%IX0.1.7 Indirect start switch f axis Y
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6880 Signal during axis Y operation
%KX6881 Axis Y error signal

(3) Operation Data Setting

Operation
Step coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Axis Repeat step M code speed
No. es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolu Position
X 1 End Single 0 10,000 0 1 1000 100
te control
Absolu Position
Y 1 End Single 0 20,000 0 1 2000 100
te control

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Chapter 7 Program Examples of Positioning

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000D/%IX0.1.5 (synchronous start) switch On : axis X tarts position synchronous start with axis Y
being the main axis.
•P000F/%IX0.1.7 (Axis Y start) switch On : axis Y starts the step operation. If the position of axis Y
reaches 2,000, axis X is synchronized to this, starting step 1.

7.2.8 Speed Synchronous Start

• The program example of speed synchronous start is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 axes X and Y error reset, output inhibition cancel switch
P0009 Floating origin switch of axes X and Y
P000A axis X deceleration stop switch
P000B deceleration stop switch of axis X
P000C axis X speed synchronous start switch
P000F indirect start switch of axis Y
K4200 Signal during axis X operation
K4201 Error signal of axis X
K4300 Signal during axis Y operation
K4301 Axis Y error signal

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Chapter 7 Program Examples of Positioning

(2) XEC

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Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 axes X and Y error reset, output inhibition cancel switch
%IX0.1.1 Floating origin switch of axes X and Y
%IX0.1.2 axis X deceleration stop switch
%IX0.1.3 deceleration stop switch of axis X
%IX0.1.4 axis X speed synchronous start switch
%IX0.1.7 indirect start switch of axis Y
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6880 Signal during axis Y operation
%KX6881 Axis Y error signal

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Chapter 7 Program Examples of Positioning

(3) Operation Data Setting

Target Operation
Step coordina Control Operatio Operatio Acc./Dec. Dwell time
Axis Repeat step position M code speed
No. tes pattern n pattern n type No. [㎳]
[pulse] [pls/s]

X(auxiliary Absol Position

1 End Single 0 10,000 0 1 1000 100
axis) ute control
Y(main Absol Speed
1 End Single 0 15000 0 1 1000 100
axis) ute control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000C/%IX0.1.4 (synchronous start) switch On : axis X starts speed synchronous start with axis Y
being the main axis.
•P000F/%IX0.1.7 (Axis Y start) switch On : axis Y starts step 1 operation. Axis X is synchronized to
the speed of 50,00%of axis Y and started.

7.2.9 Emergency Stop

• The program example of emergency stop during operation is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Error reset, output inhibition cancel switch in case of emergency stop
P0009 axis X home return switch
P000B emergency stop switch during home return
K4200 Signal during axis X operation

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Chapter 7 Program Examples of Positioning

(2) XEC

(a) Devices Used

Device Description
%IX0.1.0 Error reset, output inhibition cancel switch in case of emergency stop
%IX0.1.1 axis X home return switch
%IX0.1.7 emergency stop switch during home return
%KX6720 Signal during axis X operation

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Chapter 7 Program Examples of Positioning

(3) Operation Data Setting

Operation
coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Step No. Repeat step M code speed
es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolut Speed
1 End Single 0 10000 0 1 1000 100
e control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1 and starts speed control.
•P000B/%IX0.1.7 (emergency stop) switch On : axis X does emergency stop without deceleration
and the output is inhibited.

7.2.10 Jog Operation

• The program example of jog operation is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X floating origin switch
P000D axis X jog normal direction start switch
P000E axis X jog reverse direction start switch
P000F Switch for low/high speed selection of axis X jog
K4200 Signal during axis X operation
K4201 Error signal of axis X

7 - 25
Chapter 7 Program Examples of Positioning

(2) XEC

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 axis X floating origin switch
%IX0.1.5 axis X jog normal direction start switch
%IX0.1.6 axis X jog reverse direction start switch
%IX0.1.7 Switch for low/high speed selection of axis X jog
%KX6880 Signal during axis X operation
%KX6881 Error signal of axis X

7 - 26
Chapter 7 Program Examples of Positioning

(3) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000D/%IX0.1.5 (jog normal direction) switch On : axis X starts normal direction jog operation.
•P000F/%IX0.1.7 (jog speed) switch On : axis X is converted to jog high speed.
•P000D/%IX0.1.5 (jog normal direction) switch Off : axis X does jog stop.
•P000E/%IX0.1.6 (jog reverse direction) switch On : axis X starts reverse direction jog operation.
•P000E/%IX0.1.6 (jog reverse direction) switch Off : axis X does jog stop.

7.2.11 Speed Override

• The program example of speed override during operation is as follows.

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X floating origin switch
P000A axis X indirect start switch
P000C axis X speed override switch
K4200 Signal during axis X operation
K4201 Error signal of axis X
K420C axis X acceleration signal
K420D axis X constant speed signal

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Chapter 7 Program Examples of Positioning

(2) XEC

7 - 28
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 axis X floating origin switch
%IX0.1.2 axis X indirect start switch
%IX0.1.4 axis X speed override switch
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6732 axis X acceleration signal
%KX6733 axis X constant speed signal

(3) Operation Data Setting

Operation
coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Step No. Repeat step M code speed
es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolut Position
1 End Single 0 100000 0 1 5000 100
e control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1.
•P000C/%IX0.1.4 (speed override) switch On : overrides the current speed to 1000pps during
acceleration or constant speed operation of axis X.

7.2.12 Position Override

• The program example of position override during operation is as follows.

(1) XBM/XBC

7 - 29
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X floating origin switch
P000A axis X indirect start switch
P000C axis X position override switch
K4200 Signal during axis X operation
K4201 Error signal of axis X
K420D axis X constant speed signal

(2) XEC

7 - 30
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 axis X floating origin switch
%IX0.1.2 axis X indirect start switch
%IX0.1.4 axis X position override switch
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6733 axis X constant speed signal

(3) Operation Data Setting

Operation
coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Step No. Repeat step M code speed
es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolut Position
1 End Single 0 100000 0 1 5000 100
e control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1.
•P000C/%IX0.1.4 (position override) switch On : overrides the current position to 60,000 when the
current position is below 60,000.

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Chapter 7 Program Examples of Positioning

7.2.13 Speed Override with Position

• The program example of positioning speed override during operation is as follows

(1) XBM/XBC

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X floating origin switch
P000A axis X indirect start switch
P000D axis X positioning speed override switch
K4200 Signal during axis X operation
K4201 Error signal of axis X
K420D axis X constant speed signal

7 - 32
Chapter 7 Program Examples of Positioning

(2) XEC

7 - 33
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch
%IX0.1.1 axis X floating origin switch
%IX0.1.2 axis X indirect start switch
%IX0.1.5 axis X positioning speed override switch
%KX6720 Signal during axis X operation
%KX6721 Error signal of axis X
%KX6733 axis X constant speed signal

(3) Operation Data Setting

Operation
coordinat Control Operation Operation Target position Acc./Dec. Dwell time
Step No. Repeat step M code speed
es pattern pattern type [pulse] No. [㎳]
[pls/s]

Absolut Position
1 End Single 0 100000 0 1 10000 100
e control

(4) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1.
•P000D/%IX0.1.5 (positioning speed override) switch On : overrides the current speed to 5000 when
the current position reaches 50,000.

7.2.14 Speed, Position, and Parameter Teaching

• The program example of teaching of speed, position, and operation parameter is as follows
(1) XBM/XBC

7 - 34
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
P0008 Axis X error reset, output inhibition cancel switch
P0009 axis X home return switch
P000A axis X start switch
P000E axis X speed teaching switch
P000B axis X position teaching switch
P000F axis X parameter teaching switch
K4200 Signal during axis X operation
K4201 Error signal of axis X
K534 ~ K535 axis X step 1 operation speed
D0100 ~ D0101 axis X speed change data (3000)
K530 ~ K531 axis X step 1 target position
D0100 ~ D0101 axis X speed change data (5000)
K452 ~ K453 axis X speed limit
K454 axis X deceleration time
K455 axis X acceleration time
D0100 ~ D0101 axis X speed limit setting data (10000)
D0102 axis X deceleration time 1 setting data (50)
D0103 axis X deceleration time 1 setting data (50)

(2) XEC

7 - 35
Chapter 7 Program Examples of Positioning

7 - 36
Chapter 7 Program Examples of Positioning

(a) Devices Used

Device Description
%IX0.1.0 Axis X error reset, output inhibition cancel switch

%IX0.1.1 axis X home return switch

%IX0.1.2 axis X start switch

%IX0.1.6 axis X speed teaching switch
%IX0.1.3 axis X position teaching switch
%IX0.1.7 axis X parameter teaching switch
%KX6720 Signal during axis X operation

%KX6721 Error signal of axis X

%KD267 axis X step 1 operation speed
AxisX_Step01_Speed axis X speed change data (3000)
%KD265 axis X step 1 target position
AxisX_Step01_Position axis X speed change data (5000)
%KD266 axis X speed limit
%KW454 axis X acceleration time
%KW455 axis X deceleration time
AxisX_Speed_limit axis X speed limit setting data (10000)
AxisX_acceleration_time1 axis X acceleration time 1 setting data (50)
AxisX_deceleration_time1 axis X deceleration time 1 setting data (50)

(3) Operation Data Setting

Operation
Step Control Operation Operation Target position Acc./Dec. Dwell time
coordinates Repeat step M code speed
No. pattern pattern type [pulse] No. [㎳]
[pls/s]

Position
1 Relative End Repeat 1 10,000 0 1 1000 100
control

(4) Positioning Basic Parameter Setting

Parameter Set value
Speed limit 100,000
Acceleration time 1 100
Deceleration time 1 100

7 - 37
Chapter 7 Program Examples of Positioning

(5) Operation Sequence

•P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1.
- speed : 1,000[pps]
- target position : 10,000[Pulse]
- acceleration/deceleration time : 100[㎳]
•P000E/%IX0.1.6 (speed teaching) switch On after positioning is completed: speed of step 1
changes to 3,000[pps].
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1 again.
- speed : changes to 3,000[pps] and operates.
- target position : 10,000[Pulse]
- acceleration/deceleration time : 100[㎳]
• P000B/%IX0.1.3 (position teaching) switch On after positioning is completed: the target position of
step 1 changes to 5,000.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1 again.
- speed : 3,000[pps]
- target position : changes to 5,000[Pulse] and operates.
- acceleration/deceleration time : 100[㎳]
• P000F/%IX0.1.7 (parameter teaching) switch On after positioning is completed: positioning basic
parameter is changed.
•P000A/%IX0.1.2 (indirect start) switch On : axis X indirectly starts step 1 again.
- speed : 3,000[pps]
- target position : 5,000[Pulse]
- acceleration/deceleration time : changes to 50[㎳] and
operates.

Remark
• Permanent Storage of Teaching Data
- If you have changed the operation data and parameter by using the DMOV instruction, you need
to use the WRT instruction to save the changed value in the flash memory. Otherwise, it is
initialized to the value saved in the previous flash memory when the power is off or the mode is
changed.

7 - 38
Chapter 8 Troubleshooting Procedure

Chapter 8 Troubleshooting Procedure

This chapter describes the errors that occur during the use of XGB PLC and the built-in positioning function, the
method of finding the cause of the error, and the actions to take.

8.1 Basic Procedure of Troubleshooting

Although t is important to use a highly reliable device for normal operation of the system, it is important as
well how to deal with a trouble quickly.
In case of a trouble, if you want to restart the system, it is critical to find the cause of the trouble and take an
action as soon as possible. The basic troubleshooting points you need to keep in mind are as follows.

(1) Check with Naked Eye

Check the following with your naked eye.
• Operation of the machine (in motion, not in motion)
• Power supply – whether the rated voltage is normally supplied to XGB PLC
• Condition of the input and output devices
• Distribution (input and output lines, communication cables, expansion)
• Check the Indicators (PWR LED, RUN LED, STOP LED, input and output LED), and access the
peripheral devices to check the PLC operation and program contents.

(2) Trouble Check

When you manipulate the device as follows, observe how the trouble develops.
• Turn the operation mode switch to STOP and turn On / Off.

(3) Supposition of the Cause of Trouble

Suppose which of the following the cause of the trouble is.
• Whether the cause is in the PLC or an external device
• If the trouble is in the PLC, decide whether it is the trouble of the basic unit or other expansion modules.
• In the former is the case, decide whether there is a problem with the PLC parameter/program or
hardware.

8 -1
Chapter 8 Troubleshooting Procedure

8.2 Check by Using the LED

If there is trouble in using the XGB built-in positioning function, you can roughly presume the cause of the
trouble by checking the LED of XGB PLC. This chapter describes the LED related to the trouble of the
positioning function. With respect to the trouble that occurs during use of other functions of the basic unit, refer
to ‘Hardware section of the XGB Manual.’

8.2.1 LED Check

If there is trouble during use of the positioning function, check the status of PWR LED, RUN LED and
ERR LED of XGB PLC, and check the LED of the input and output contact point related to positioning.

(1) PWR LED Check

Check the PWR LED status and take the following actions.

LED PLC trouble Actions to take

• Rated voltage is normally supplied to • The power supply is normal, so check whether
On
XGB. there is another cause.

• One of the following might be the • Check the voltage and current of the power
cause. supply.
- Rated voltage/current set for the • Remove the input and output lines, re-supply
Flashing
XGB is not being supplied. power and check again.
- Problem with the PLC hardware - If there still is the same problem, contact the
- Problem with external lines A/S office or customer center.

• Power is not being supplied.

• Check whether rated voltage is being normally
• Supplied voltage is lower than the
supplied to the PLC.
rated voltage.
Off - If normally supplied, contact an A/S office or
• The cable is severed.
customer center.
• There is a problem with the PLC
hardware.

8 -2
Chapter 8 Troubleshooting Procedure

(2) RUN LED Check

LED PLC trouble Actions to take

• The program is being normally

On • Check whether there is another cause.
operated.

• The program has stopped.

• The running of the program has - Check the ERR LED to find whether it is
Off
stopped. because of an error or the operation mode is
STOP.

(3) ERR LED Check

LED PLC trouble Actions to take

• There is a problem with the PLC hardware,

On • A problem with the PLC hardware
so contact an A/S office or customer center.

Quick
• Serious trouble that makes
flashing
operation impossible
(0.1 sec) • Access XGB with XG5000, execute ‘Online’ Æ
Flashing ‘PLC error/warning’, check the error and
Slow warning, and remove the cause.`
• A minor problem with
flashing
operation continuing
(0.5 sec)

• The program is being normally run, so check

On • The program is being normally run.
whether there is another problem.

(4) Positioning Output LED Check

If no problem is found as a result of the check of the LED, check the LED of the output contact point
related to the positioning function, and take the following actions.

(a) When the pulse output mode is the PLS/DIR mode

Contact
Signal LED status Error and actions to take
point

• Pulse is being normally output by the positioning function.

Fast flashing • Check whether there is a problem with the lines of the XGB
and motor driver.

• Pulse is not being normally output.

- Positioning operation has finished (normal).
Pulse Æ Start the next operation instruction.
P20,P21
output - There is an error that makes positioning operation
Off impossible.
Æ Check the positioning error code and remove the
cause.
• For the method of check the error code, refer to Appendix
1.1.

8 -3
Chapter 8 Troubleshooting Procedure

Contact LED
Signal Output level Error and actions to take
point status
• Direction signals are being output in the normal
Low Active
direction (normal).

• Direction signals are being output in the reverse

direction (normal).
• Pulse is not being normally output
On - Positioning operation has finished (normal)
HIGH Active Æ Start the next operation instruction.
- There is an error that makes positioning
operation impossible
Æ Check the positioning error code and remove the
Direction P22,P23 cause.
output Q02,Q03
• Direction signals are being output in the reverse
direction (normal)
• Pulse is not being normally output
- Positioning operation has finished (normal)
Low Active Æ Start the next operation instruction.
Off - There is an error that makes positioning
operation impossible
Æ Check the positioning error code and remove
the cause.

• Direction signals are being output in the normal

HIGH Active
direction (normal).

(b) When the pulse output mode is the CW/CCW mode

CW CCW
Signal contact contact Error and actions to take
point point

Off • CW pulse is being normally output (normal).

Flashing
• The pulse is being abnormally output.
Flashing
Æ Contact an A/S office or customer center.

CW output • Pulse is not being output (normal).

- Positioning operation has finished (normal).
Off Æ Start the next operation instruction.
Off - There is an error that makes positioning operation impossible.
Æ Check the positioning error code and remove the cause

Flashing • CCW pulse is being normally output (normal).

Remark

• If PWR, RUN, and ERR LED are all off, there is a problem with the internal operation system of
XGB. In such a case, XGB PLC cannot normally operate, so inquire of the customer center.

8 -4
Chapter 8 Troubleshooting Procedure

8.3 Check by Error Code

If there is found to be an error as a result of the check of the LED related to positioning, access XGB with
XG5000, check the positioning error code, and remove the cause.
This chapter only describes how to check the positioning error codes. With respect to the details of error
codes and actions to take, refer to Appendix 1.1.

8.3.1 How to Check Error Codes

The built-in positioning error code can be checked by using the XGB positioning monitoring package
or the positioning error code device of area K in the following procedure.

(1) Positioning Monitoring Package

(a) Access PLC with XG5000.

(b) Select ‘Monitor’ Æ ‘Special Module Monitor’ Æ ‘Positioning Module,’ the following monitoring
package is executed. Select ‘Start Monitor’ at the left bottom, you can check the error code.

(2) Positioning Area K

(a) You can check the error code by using the device monitor function of XG5000.
(b) To check the error code of the XGB positioning function, monitor the following device. About
how to use the device monitor, refer to the manual of XG5000.

Area K address Data size

Axis X K427(%KW427) Word
Axis Y K437(%KW437) Word

8 -5
Chapter 8 Troubleshooting Procedure

8.4 Check of Motor Failures

If the motor does not work despite there being no problem after the check according to the procedure
described above, check the following.

8.4.1 If the Motor Doesn’t Work

(1) Lines between the XGB and Motor Driver

• Check whether the lines between XGB and servo motor driver are connected rightly.
• For the specifications of the input and output of XGB, refer to Chapter 2.
• For examples of wiring between XGB and the motor driver, refer to Appendix 3.
• If you use a motor driver that is not addressed in this manual, refer to the manual of that motor driver.

(2) Setting of the Motor Driver

• If there is no problem with the wiring, check whether the input pulse of the motor driver is the same as
that of the XGB.
• XGB only supports the open collector type. Check whether the motor driver you are using can
accommodate the type, and check the setting of the motor driver.

(3) Check of the Motor Driver

• If no problem is found as a result of the procedure above, check whether pulse is actually supplied to
the motor driver by using the oscilloscope. If the motor driver isn’t working despite the pulse actually
being supplied, refer to the manual of the motor driver and check whether there is an error of the
driver.

8 -6
Appendix 1 List of Error Codes

Appendix 1 List of Error Codes

1.1 List of PLC Error Codes
The general error codes that might occur during XGB operation are as follows.
To check the error codes, access XGB with XG5000 and execute ‘online’ Æ ‘PLC error/warning’ menu.

LED Detected
Code Cause Action to take Type
status during
There is a problem with the 0.5 second
23 Re-download and run the project Minor RUN
program to run Flicker

Reset
0.5 second
24 Over I/O parameter Minor RUN mode
Check the preservation by reading I/O parameter or basic Flicker conversion
parameter according to the error code type. If there is a
problem, correct it to Write with PLC and check the operation.
Reset
If the problem still goes on, replace the basic unit. 0.5 second
25 Over basic parameter Minor RUN mode
Flicker conversion

The module set in I/O parameter

Correct the I/O parameter for it to match the actually mounted 0.5 second RUN mode
30 does not match the actually Minor conversion
module and write with PLC. Flicker
mounted module.
Module is removed or another
0.1 second
31 module is mounted during Turn OFF -> ON. Serious Every scan
Flicker
operation
Data of input and output
0.1 second
33 modules during operation are Serious Scan end
Flicker
not normally collected Replace the module and restart it after checking the input and
Data of special/comm.. module output where the error took place by using XG5000.
0.1 second
34 during operation are not Serious Scan end
Flicker
normally collected

Number of additionally mounted No more than 7 layer can be added, remove the excessively 0.1 second
38 Serious Every scan
modules exceeded added modules and restart. Flicker
PLC CPU operation overload or 1) If repeated when resupply power, call A/S. 0.1 second
39 Serious Any time
failure due to noise or hardware 2) Carry out noise action. Flicker

Program scan time during

Check the scan delay monitoring time of the basic parameter, 0.5 second Program
40 operation exceeds the set scan Minor running
and modify it or the program and restart. Flicker
delay monitoring time

Operation error during sequence Check the step where the operation error took place, remove 0.5 second Program
41 Minor running
program the cause and restart. Flicker

Modify the timer index program, write the program and 0.5 second
44 Timer index use error Minor Scan end
restart. Flicker

Serious failure is detected in

Refer to the serious failure detecting error flag of external 0.1 second
50 external device due to sequence Serious Scan end
device, repair it and restart. Flicker
program
Remove the cause of error that started the E-STOP function 0.1 second Program
60 E_STOP function performed Serious running
in the program and re-supply power. Flicker

500 Data memory backup error Re-supply power. (converted to STOP mode in remote mode) Warning 1 second Flicker Power On

APP.1- 1
Appendix 1 List of Error Codes

1.2 List of Positioning Error Codes

Error code that can be occurred in the XGB positioning is as follows.
The user can check error code through XGB dedicated positioning monitoring package or K area (X axis: K427, Y axis: K437). Error code
occurs according to dedicated K area applied at starting.
For checking the relationship between positioning parameter and dedicated K area, refer to ch.3.2.
Error
Description Operation Countermeasures
code
101 Exceeding the max speed range of basic parameter Stop Change the max speed value
Exceeding the bias speed of basic parameter
102 1) bias speed ≥ Speed limit Stop Re-adjust it lower then the max speed of basic parameter.
2) bias speed = 0
ACC time setting error
103 1) ACC time > 10,000 Stop Re-adjust ACC time of basic parameter lower than 10,000
2) Jog ACC time > 10,000
DEC time setting error
104 1) DEC time > 10,000 Stop Re-adjust DEC time of basic parameter lower than 10,000
2) Jog DEC time > 10,000

105 Setting non use dedicated positioning at parameter Stop Setting dedicate positioning.

Expansion parameter soft upper/lower limit error

111 Stop Re-adjust S/W upper limit equal to or larger than the lower limit.
• S/W upper > S/W lower
Manual operation parameter jog high speed range
exceeding error
121 1) Jog high speed < bias speed Stop Re-adjust to be max speed≥jog high speed≥bias speed
2) Jog high speed > > max speed
3) Jog high speed = 0
4) Jog high speed < Jog low speed
Manual operation parameter jog low speed range
exceeding error
122 1) Jog low speed < bias speed Stop Re-adjust to be jog high speed≥jog low speed≥ 1.
2) Jog low speed > max speed
3) Jog low speed = 0
4) Jog low speed > Jog high speed
Manual operation parameter inching speed range
123 exceeding error Stop Re-adjust to be max speed ≥ inching speed ≥ bias speed
1) inching speed < bias speed
2) inching speed > > max speed
Home return parameter home return mode value range Re-adjust to be 0 < home return parameter ≤ 3.
131 Stop
exceeding error (1:Dog/origin(On) 2:upper/lower limit/origin 3:DOG)
Home return parameter home return address range Re-adjust to be S/W upper limit ≥ home return address≥ S/W lower
132 Stop
exceeding error limit
Home return parameter home return high speed range
exceeding error
133 Stop Re-adjust to be max speed ≥home return high speed ≥ bias speed
1) home return high speed < bias speed
2) home return high speed > max speed
Home return parameter home return low speed range
exceeding error Re-adjust to be home return high speed ≥home return low speed≥
134 Stop
1) home return low speed < bias speed bias speed
2) home return low speed > home return high speed
Home return dwell time out error of home return parameter
135 Stop Re-adjust dwell time lower than 50000.
• Home return dwell time > 50,000

APP.1- 2
Appendix 1 List of Error Codes
Error
Description Operation Countermeasures
code
Home return ACC time setting error
136 Stop Re-adjust home return ACC time lower than 10,000
• Home return ACC time > 10,000
Home return DEC time setting error
137 Stop R-adjust home return Dec time lower than 10,000.
• Home return DEC time > 10,000
151 Operation speed ‘0’ setting error of operation data Stop Set operation speed over ‘0’.
Operation speed of operation data exceeding the max
152 Stop Re-adjust to be max speed ≥ operation speed.
speed
Operation speed of operation data set lower than bias
153 Stop Re-adjust to be operation speed ≥ bias speed.
speed.
154 Exceeding dwell time setting range of operation data Stop Set dwell time lower than 50000.
Exceeding end/continuous/sequential setting range of Re-set operation pattern of operation data as one of 0:end,
155 Stop
operation data 1:continuous or 2:sequential
Check whether command axis was not operating at the time of
201 Home return command is unavailable during operation Stop
home return command.
Home return command is unavailable in case of ‘no output’ Check whether command axis was not in ‘no output’ status at the
202 Stop
status. time of home return command.
Floating origin setting command is unavailable during Check whether command axis was not operating at the time of
211 Stop
operation. floating origin setting command.
Check whether command axis was not operating at the time of
221 Direct start command is unavailable during operation. Stop
direct start command

APP.1- 3
Appendix 1 List of Error Codes

Error
Description Operation Countermeasures
code
Direct start command is unavailable in case of ‘no output ’ Check whether command axis was not in ‘no output’ status at the
222 Stop
status. time of direct start command.
Check whether M code of command axis was not On at the time
223 Direct start command is unavailable in case of M code On Stop
of direct start command.
Absolute coordinate operation is not available without origin set.
Direct start command is unavailable without origin set in
224 Stop Check whether operation data to operate and the current origin
absolute coordinate.
set.
Check whether command axis was not operating at the time of
231 Indirect start command is unavailable during operation Operation
indirect start command.
Indirect start command is unavailable in case of ‘no Check whether command axis was not in ‘no output’ status at the
232 Stop
output’ status. time of indirect command.
Indirect start command is unavailable in case of M code Check whether M code signal of command axis was not On at the
233 Stop
On. time of indirect start command.
Absolute coordinate operation is not available without origin set.
Indirect start command is unavailable without origin set in
234 Stop Check whether operation data to operate and the current origin
absolute coordinate.
set.
Continuous operation of indirect start is unavailable in Re-set single or continuous operation if operation data control
236 Stop
speed control. method is speed
Linear interpolation start is unavailable when main axis of Check whether main axis was not operating at the time of linear
241 Operation
linear interpolation s operating. interpolation command.
Linear interpolation start is unavailable when sub axis of Check whether sub axis was not operating at the time of linear
242 Operation
linear interpolation is operating. interpolation command.
Linear interpolation start is unavailable when main axis of Check whether main axis was not in ‘Output disabled’ status at
244 Stop
linear interpolation is in ‘Output disabled’ status. the time of linear interpolation command.
Linear interpolation start is unavailable when sub axis of Check whether a sub axis was not in ‘Output disabled’ status at
245 Stop
linear interpolation is in ‘Output disabled’ status. the time of linear interpolation command.
Linear interpolation start is unavailable when the M code Check whether M code signal of main axis was not On at the time
247 Stop
signal of linear interpolation’s main axis is On. of linear interpolation command.
Linear interpolation start is unavailable when M code Check whether M code signal of sub axis was not On at the time
248 Stop
signal of linear interpolation’s sub axis is On. of linear interpolation.
Absolute coordinate operation is not available without origin set.
Absolute coordinate positioning operation is unavailable
250 Stop Check whether operation data to operate and the current origin
when the origin of linear interpolation sub axis is not set.
set.
Absolute coordinate operation is not available without origin set.
Absolute positioning operation is unavailable when the
251 Stop Check whether operation data to operate and the current origin
origin of linear interpolation’s sub axis is not set.
set.
Main axis and sub axis of linear interpolation are set
253 Stop Re-set the axis date as 3 of linear interpolation command.
incorrectly.
Check whether the target position of operation data of a step for
Linear interpolation is not available when the target
257 Stop linear interpolation was not the present status in case of absolute
position of main axis does not have a target position.
coordinate or set to ‘0’ in case of Incremental coordinate.
Check whether the control method of main axis operation data
Linear interpolation is unavailable when main axis is
258 Stop step for linear interpolation operation was not set by speed
controlling speed.
control.

APP.1- 4
Appendix 1 List of Error Codes
Error
Description Operation Countermeasures
code
Linear interpolation is unavailable when sub axis is Check whether the control method of sub axis operation data step
259 Stop
controlling speed. for linear interpolation was not set by speed control.
Check whether an axis with error was not contained in concurrent
291 Concurrent start command is unavailable during operation. Operation start command and whether there wasn’t any operating axis at
the time of the command
Check whether an axis with error was not contained in concurrent
Concurrent start command is unavailable in ‘no output’
292 Stop start command and whether it was not in ‘no output’ status at the
status.
time of the command.
Check whether an axis with error was not contained in concurrent
293 Concurrent start command is not available with M code On Stop start command and whether M code signal was not On at the time
of the command.
294 Concurrent start command is unavailable without origin set Stop Concurrent start command with origin set
296 When concurrent start command axis is incorrectly set. Stop Re-set the axis date as 3 of concurrent start command
Speed/position switching command is unavailable while not Check whether an axis did not stop at the time of speed/position
301 Stop
operating. switching command.
Speed/position switching command is unavailable while not Check whether an axis was not in speed control status at the time
302 Stop
controlling speed. of speed/position switching command.
Speed/position switching command is unavailable without Check whether operation had a move(amount) at the time of
304 Stop
target position. speed/position switching command.
Position/speed switching command is unavailable while not Check whether an axis did not stop at the time of position/speed
311 Stop
operating. switching command.
Position/speed switching command is unavailable On a sub Check whether an axis was operating as a synchronic operation
312 Stop
axis of synchronic operation. sub axis at the time of position/speed switching command.
Position/speed switching command is unavailable during Check whether an axis was not in linear interpolation operation at
314 Operation
linear operation. the time of position/speed switching command.
Check whether it was not operating at the time of DEC stop
321 DEC stop command is unavailable while not operating. Stop
command.
Check whether it was not jog-operating at the time of DEC stop
322 DEC stop command is not available during jog operation. Operation
command.
Position synchronic command is not available during Check whether an axis was not in operating at the time of position
341 Operation
operation synchronic command
Position synchronic command is unavailable in ‘no output’ Check whether an axis was not in ‘no output’ status at the time of
342 Stop
status. position synchronic command.
Position synchronic command is unavailable with M code Check whether M code signal of an axis was not On at the time of
343 Stop
On. position synchronic command.
Absolute coordinate operation is not available without origin set.
Position synchronic command is unavailable without origin
344 Stop Check whether operation data to operate and the current origin
set.
set.

APP.1- 5
Appendix 1 List of Error Codes
Error
Description Operation Countermeasures
code
Position synchronic command is unavailable without origin Check whether main axis was without origin set at the time of
346 Stop
of main axis set. position synchronic command.
There is an error of setting main/sub axis of position Check whether main axis of position synchronic command was not
347 Stop
synchronic command. set equally with command axis.
Speed synchronic command is unavailable during Check whether an axis was not operating at the time of speed
351 Operation
operation. synchronic command.
Speed synchronic command is unavailable in ‘no output’ Check whether an axis was not in ‘no output’ status at the time of
352 Stop
status. speed synchronic command.
Check whether M code signal of an axis was not On at the time of
353 Speed synchronic command is unavailable with M code On Stop
speed synchronic command.
There is an error of main/sub axis setting of speed
synchronic command. Check whether the main axis of speed synchronic command was
355 Stop
1) main/ sub axis were set equally not set equally with command axis.
2) set of main axis >5
There is an error of synchronization ratio setting of speed Check whether the synchronization ratio of speed synchronic
356 Stop
synchronic command command was not set between 0~10,000.
357 Delay time setting error Stop Check whether delay time was set between 1 ~ 10ms.
Position override command is unavailable in any other Check whether an axis did not stop at the time of position override
361 Stop
status but ‘busy’ command.
Check whether an axis was not dwelling at the time of position
362 Position override command is unavailable during dwelling Stop
override command.
Position override command is unavailable in any other Check whether an axis was not operating by position control at the
363 Operation
status but positioning operation. time of position override command.
Position override command is unavailable for an axis of Check whether an axis was not in linear-interpolation operation at
364 Operation
linear interpolation operation. the time of position override command.
Position override command is unavailable for a synchronic Check whether an axis was not operating as a sub axis of
366 Operation
operation sub axis. synchronic operation at the time of position override command.
Speed override command is unavailable in any other status Check whether an axis did not stop at the time of speed override
371 Stop
but ‘busy’. command.
Re-set the speed of speed override command equal to or lower
372 Out-of speed override range error Stop
than the max speed set in the basic parameter.
Speed override command is unavailable to an sub axis of Check whether an axis was not operating as a sub axis of linear
373 Operation
linear interpolation operation. interpolation at the time of speed override command.
Speed override command is unavailable to an sub axis of Check whether an axis was not operating as a sub axis of
375 Operation
synchronic operation synchronic operation at the time of speed override command.
Check whether an axis was not decelerating for stoppage at the
377 Speed override command is unavailable in a DEC section Operation
time of speed override command.
Positioning speed override command is unavailable in any Check whether an axis did not stop at the time of positioning speed
381 Stop
other status but ‘operation’. override command.
Positioning speed override command is unavailable in any Check whether an axis was not in speed control operation at the
382 Stop
other operation but ‘positioning operation’ time of positioning speed override.
Out of speed override range error of positioning sped Check whether the speed of positioning speed override command
383 Stop
override command was not equal to or lower than the max speed set in parameter.

APP.1- 6
Appendix 1 List of Error Codes
Error
Description Operation Countermeasures
code
Positioning speed override command is unavailable to an Check whether an axis was not operating as a sub axis of linear
384 Operation
sub axis of linear interpolation operation. interpolation at the time of positioning speed override command.
Check whether an axis was not operating as a sub axis of
Positioning speed override command is unavailable to an
386 Operation synchronic operation at the time of positioning speed override
sub axis of synchronic operation.
command.
Check whether an axis was not operating at the time of inching
401 Inching command is unavailable during operation. Operation
command.
Check whether an axis was not in ‘no output’ status at the time of
402 Inching command is unavailable in ‘no output’ status. Stop
inching command.
Check whether an axis was not operating at the time of jog start
411 Jog start command is unavailable during operation. Operation
command.
Check whether an axis was not in ‘no output’ status at the time of
412 Jog start command is unavailable in ‘no output’ status. Stop
jog start command.
Start step number change/repeat operation start step
Check whether an axis was not operating at the time of start step
441 number designation command is unavailable during Operation
number change command.
operation.

Start step number change/repeat operation start step Check whether the step number of start step number change
number command is unavailable during operation. command or repeat operation start step number designation
442 Stop
1) Step = 0 command is equal to or higher than 1 and lower and 30(80 for
2) Step > 30(80 for high end) high end) or within the range.
Present position preset command is unavailable during Check whether an axis was not operating at the time of present
451 Operation
operation. position present command.
Sub position data may not be set exceeding soft
Check whether the position of present position present command
452 upper/lower limits at the time of present position preset Stop
was within the soft upper/lower limits.
command.
Remove emergency stop causes and clear the error by executing
481 emergency stop error Stop
CLR command.
Remove emergency stop causes and clear the error with CLR
491 External emergency stop error Stop
command.
Escape from external upper signal range by using jog command
492 Hard upper limit error Stop
and clear the error with CLR command.
Escape from external upper signal range by using jog command
493 Hard lower limit error Stop
and clear the error with CLR command.
Escape from soft upper limit range by using jog command and
501 Soft upper limit error Stop
clear the error with CLR command.\
Escape from soft lower limit range by using jog command and
502 Soft lower limit error Stop
clear the error with CLR command.
511 Direction turning error during sequential operation Stop Check whether the direction are turned during sequential operation.
A step over 30 was set in a command. Re-set step number
512 Step number error during indirect start. Stop
between 1 ~ 30.
Check whether it repetitively operates a step of which address is ‘0’
513 Address error during indirect start. Stop
during indirection start.

APP.1- 7
Appendix 2 Positioning Instruction and K area List

Appendix 2 Positioning Instruction and K area List

Appendix 2.1 Positioning instruction list

Instruction used in the XGB positioning is as follows.

For detail, refer to ch.5.2.
Instructi
Command Instruction condition Ref.
on

ORG Home starting Slot, command axis

FLT Float origin setting Slot, command axis

Slot, command axis, position, speed, dwell time, M code, control

DST Direct starting
word

IST Indirect starting Slot, command axis, step no.

LIN Linear interpolation starting Slot, command axis, step no., axis information

SST Simultaneous starting Slot, command axis, X step, Y step, Z step, axis information

VTP Speed/position change Slot, command axis

PTV position/speed change Slot, command axis

STP Stop Slot, command axis, DEC. time

SSP Position synchronization Slot, command axis, step no., main axis position, main axis setting

SSS Speed synchronization Slot, command axis, synchronization rate, delay time

POR Position override Slot, command axis, position

SOR Speed override Slot, command axis, speed

PSO Speed override with position Slot, command axis, position, speed

INCH Inching starting Slot, command axis, inching amount

SNS starting step no. change Slot, command axis, step no.

MOF M code cancel Slot, command axis

PRS Current position preset Slot, command axis, position

EMG EMG stop Slot, command axis

CLR Error reset, output inhabit cancel Slot, command axis, pulse output inhabit/allowed

WRT Parameter/operation data saving Slot, command axis, storage area selection

Remark
• XGB positioning dedicated instruction is operated at rising edge. Namely, When starting point is on, it
is executed only one time.

App. 2 - 1
 Appendix 2 Positioning Instruction and K area List

Appendix 2.2 Positioning Dedicated K area List

Appendix 2.2.1 K area of positioning basic parameter

K area for
Item Setting range Initial value Type positioning Data size
X axis Y axis
XBM/XBC K4870 K5270
Positioning 0 : Not use, 1 : use 0 bit
XEC %KX7792 %KX8432
0 : Low Active, XBM/XBC K4871 K5271
Pulse output level 0 bit
1 : High Active XEC %KX7793 %KX8433
XBM/XBC K4873 K5273
Pulse output mode 0 : CW/CCW, 1 : PLS/DIR 0 Bit
XEC %KX7795 %KX8435
K4681 K5081
XBM/XBC
M Code Output 0 : NONE, 1 : WITH K4682 K5082
0 2bit
Mode 2 : AFTER %KX7489 %KX8129
XEC
%KX7490 %KX8130
XBM/XBC K450 K490
Bias speed 1 ∼ 100,000[pulse/s] 1 Double word
XEC %KD225 %KD245
XBM/XBC K452 K492
Speed limit 1 ∼ 100,000[pulse/s] 100,000 Double word
XEC %KD226 %KD246
XBM/XBC K454 K494
ACC No.1 0 ~ 10,000[unit: ms] 500 Word
XEC %KW454 %KW494
DEC No.1 XBM/XBC K455 K495
0 ~ 10,000[unit: ms] 500 Word
XEC %KW455 %KW495
ACC No.2 XBM/XBC K456 K496
0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW456 %KW496
DEC No.2 XBM/XBC K457 K497
0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW457 %KW497
XBM/XBC K458 K498
ACC No.3 0 ~ 10,000[unit: ms] 1,500 Word
XEC %KW458 %KW498
DEC No.3 XBM/XBC K459 K499
0 ~ 10,000[unit: ms] 1,500 Word
XEC %KW459 %KW499
ACC No.4 XBM/XBC K460 K500
0 ~ 10,000[unit: ms] 2,000 Word
XEC %KW460 %KW500
DEC No.5 XBM/XBC K461 K501
0 ~ 10,000[unit: ms] 2,000 Word
XEC %KW461 %KW501
-2,147,483,648 ∼ XBM/XBC K462 K502
S/W Upper Limit 2,147,483,647 Double word
2,147,483,647 [pulse] XEC %KD231 %KD251
-2,147,483,648 ∼ - XBM/XBC K464 K504
S/W Lower Limit Double word
2,147,483,647 [pulse] 2,147,483,648 XEC %KD232 %KD252
Backlash XBM/XBC K466 K506
0 ∼ 65,535[pulse] 0 Word
Compensation XEC %KW466 %KW506
XBM/XBC K4684 K5084
S/W Limit Detect 0 : No Detect, 1 : Detect 0 Bit
XEC %KX7492 %KX8132
XBM/XBC K4872 K5272
Upper/Lower limit 0 : No Detect, 1 : Detect 1 Bit
XEC %KX7794 %KX8434

App. 2 - 2
 Appendix 2 Positioning Instruction and K area List

Appendix 2.2.2 K area of positioning home parameter

Dedicated K
Initial Data size
Item Setting range Type area
value
X axis Y axis
K4780 K5180
XBM/XBC
K4781 K5181
Home Method 0 ~2 0 Bit
%KX7648 %KX8288
XEC
%KX7649 %KX8289
XBM/XBC K4782 K5182
Home Direction 0 : CW, 1 : CCW 1 Bit
XEC %KX7650 %KX8290
XBM/XBC K469 K509
Home Address -2,147,483,648∼2,147,483,647[pulse] 0 Double word
XEC %KD234 %KD254
XBM/XBC K471 K511
Home High Speed 1 ∼ 100,000[pulse/s] 5,000 Double word
XEC %KD235 %KD255
XBM/XBC K473 K513
Home Low Speed 1 ∼ 100,000[pulse/s] 500 Double word
XEC %KD236 %KD256
XBM/XBC K475 K515
Homing ACC Time 0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW475 %KW515
XBM/XBC K476 K516
Homing DEC Time 0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW476 %KW516
XBM/XBC K477 K517
DWELL Time 0 ~ 50,000[unit: ms] 0 Word
XEC %KW477 %KW517
XBM/XBC K479 K519
JOG High Speed 1 ∼ 100,000[pulse/s] 5,000 Double word
XEC %KD239 %KD259
XBM/XBC K481 K521
JOG Low Speed 1 ∼ 100,000[pulse/s] 1,000 Double word
XEC %KD240 %KD260
XBM/XBC K483 K523
JOG ACC Time 0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW483 %KW523
XBM/XBC K484 K524
JOG DEC Time 0 ~ 10,000[unit: ms] 1,000 Word
XEC %KW484 %KW524
XBM/XBC K485 K525
Inching Speed 1 ∼ 65,535[pulse/s] 100 Word
XEC %KW485 %KW525

App. 2 - 3
Appendix 2 Positioning Instruction and K area List

Appendix 2.2.3 Positioning operation data K area

Initial Dedicated K area
Step Item Setting range Data size
value X axis Y axis
K5484 K8484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX8772 %KX13572
K5482~83 K8482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX8770~71 %KX13570~71
K5481 K8481
Control 0 : POS, 1 : SPD POS Bit
%KX8769 %KX13569
K5480 K8480
Method 0 : SIN, 1 : REP SIN Bit
%KX8768 %KX13568
K549 K849
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW549 %KW849
1 Address K540 K840
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD270 %KD420
K547 K847
M Code 0 ~ 65,535 0 Word
%KW547 %KW847

K5486~87 K8486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX8774~75 %KX13574~75
K544 K844
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD272 %KD422
K546 K846
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW546 %KW846

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5484 K8484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX8772 %KX13572
K5482~83 K8482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX8770~71 %KX13570~71
K5481 K8481
Control 0 : POS, 1 : SPD POS Bit
%KX8769 %KX13569
K5480 K8480
Method 0 : SIN, 1 : REP SIN Bit
%KX8768 %KX13568
K549 K849
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW549 %KW849
2 Address K540 K840
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD270 %KD420
K547 K847
M Code 0 ~ 65,535 0 Word
%KW547 %KW847

K5486~87 K8486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX8774~75 %KX13574~75
K544 K844
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD272 %KD422
K546 K846
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW546 %KW846

App. 2 - 4
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5584 K8584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX8932 %KX13732
K5582~83 K8582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX8930~31 %KX13730~31
K5581 K8581
Control 0 : POS, 1 : SPD POS Bit
%KX8929 %KX13729
K5580 K8580
Method 0 : SIN, 1 : REP SIN Bit
%KX8928 %KX13728
K559 K859
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW559 %KW859
3 Address K550 K850
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD275 %KD425
K557 K857
M Code 0 ~ 65,535 0 Word
%KW557 %KW857

K5586~87 K8586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX8934~35 %KX13734~35
K554 K854
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD277 %KD427
K556 K856
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW556 %KW856

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5684 K8684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9092 %KX13892
K5682~83 K8682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9090~91 %KX13890~91
K5681 K8681
Control 0 : POS, 1 : SPD POS Bit
%KX9089 %KX13889
K5680 K8680
Method 0 : SIN, 1 : REP SIN Bit
%KX9088 %KX13888
K569 K869
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW569 %KW869
4 Address K560 K860
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD280 %KD430
K567 K867
M Code 0 ~ 65,535 0 Word
%KW567 %KW867

K5686~87 K8686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9094~95 %KX13894~95
K564 K864
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD282 %KD432
K566 K866
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW566 %KW866

App. 2 - 5
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5784 K8784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9252 %KX14052
K5782~83 K8782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9250~51 %KX14050~51
K5781 K8781
Control 0 : POS, 1 : SPD POS Bit
%KX9249 %KX14049
K5780 K8780
Method 0 : SIN, 1 : REP SIN Bit
%KX9248 %KX14048
K579 K879
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW579 %KW879
5 Address K570 K870
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD285 %KD435
K577 K877
M Code 0 ~ 65,535 0 Word
%KW577 %KW877

K5786~87 K8786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9254~55 %KX14054~55
K574 K874
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD287 %KD437
K576 K876
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW576 %KW876

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5884 K8884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9412 %KX14212
K5882~83 K8882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9410~11 %KX14210~11
K5881 K8881
Control 0 : POS, 1 : SPD POS Bit
%KX9409 %KX14209
K5880 K8880
Method 0 : SIN, 1 : REP SIN Bit
%KX9408 %KX14208
K589 K889
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW589 %KW889
6 Address K580 K880
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD290 %KD440
K587 K887
M Code 0 ~ 65,535 0 Word
%KW587 %KW887

K5886~87 K8886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9414~15 %KX14214~15
K584 K884
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD292 %KD442
K586 K886
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW586 %KW886

App. 2 - 6
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K5984 K8984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9572 %KX14372
K5982~83 K8982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9570~71 %KX14370~71
K5981 K8981
Control 0 : POS, 1 : SPD POS Bit
%KX9569 %KX14369
K5980 K8980
Method 0 : SIN, 1 : REP SIN Bit
%KX9568 %KX14368
K599 K899
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW599 %KW899
7 Address K590 K890
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD295 %KD445
K597 K897
M Code 0 ~ 65,535 0 Word
%KW597 %KW897

K5986~87 K8986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9574~75 %KX14374~75
K594 K894
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD297 %KD447
K596 K896
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW596 %KW896

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6084 K9084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9732 %KX14532
K6082~83 K9082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9730~31 %KX14530~31
K6081 K9081
Control 0 : POS, 1 : SPD POS Bit
%KX9729 %KX14529
K6080 K9080
Method 0 : SIN, 1 : REP SIN Bit
%KX9728 %KX14528
K609 K909
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW609 %KW909
8 Address K600 K900
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD300 %KD450
K607 K907
M Code 0 ~ 65,535 0 Word
%KW607 %KW907
K6086~87 K9086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9734~35 %KX14534~35
K604 K904
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD302 %KD452
K606 K906
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW606 %KW906

App. 2 - 7
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6184 K9184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX9892 %KX14692
K6182~83 K9182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX9890~91 %KX14690~91
K6181 K9181
Control 0 : POS, 1 : SPD POS Bit
%KX9889 %KX14689
K6180 K9180
Method 0 : SIN, 1 : REP SIN Bit
%KX9888 %KX14688
K619 K919
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW619 %KW919
9 Address K610 K910
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD305 %KD455
K617 K917
M Code 0 ~ 65,535 0 Word
%KW617 %KW917
K6186~87 K9186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX9894~95 %KX14694~95
K614 K914
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD307 %KD457
K616 K916
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW616 %KW916

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6284 K9284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10052 %KX14852
K6282~83 K9282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10050~51 %KX14850~51
K6281 K9281
Control 0 : POS, 1 : SPD POS Bit
%KX10049 %KX14849
K6280 K9280
Method 0 : SIN, 1 : REP SIN Bit
%KX10048 %KX14848
K629 K929
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW629 %KW929
10 Address K620 K920
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD310 %KD460
K627 K927
M Code 0 ~ 65,535 0 Word
%KW627 %KW927

K6286~87 K9286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10054~55 %KX14854~55
K624 K924
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD312 %KD462
K626 K926
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW626 %KW926

App. 2 - 8
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6384 K9384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10212 %KX15012
K6382~83 K9382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10210~11 %KX15010~11
K6381 K9381
Control 0 : POS, 1 : SPD POS Bit
%KX10209 %KX15009
K6380 K9380
Method 0 : SIN, 1 : REP SIN Bit
%KX10208 %KX15008
K639 K939
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW639 %KW939
11 Address K630 K930 Double
-2,147,483,648∼2,147,483,647 [pulse] 0
[pulse] %KD315 %KD465 word
K637 K937
M Code 0 ~ 65,535 0 Word
%KW637 %KW937
K6386~87 K9386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10214~15 %KX15014~15
K634 K934 Double
Speed 1 ∼ 100,000[pulse/s] 0
%KD317 %KD467 word
K636 K936
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW636 %KW936

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6484 K9484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10372 %KX15172
K6482~83 K9482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10370~71 %KX15170~71
K6481 K9481
Control 0 : POS, 1 : SPD POS Bit
%KX10369 %KX15169
K6480 K9480
Method 0 : SIN, 1 : REP SIN Bit
%KX10368 %KX15168
K649 K949
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW649 %KW949
12 Address K640 K940
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD320 %KD470
K647 K947
M Code 0 ~ 65,535 0 Word
%KW647 %KW947

K6486~87 K9486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10374~75 %KX15174~75
K644 K944
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD322 %KD472
K646 K946
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW646 %KW946

App. 2 - 9
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6584 K9584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10532 %KX15332
K6582~83 K9582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10530~31 %KX15330~31
K6581 K9581
Control 0 : POS, 1 : SPD POS Bit
%KX10529 %KX15329
K6580 K9580
Method 0 : SIN, 1 : REP SIN Bit
%KX10528 %KX15328
K659 K959
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW659 %KW959
13 Address K650 K950
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD325 %KD475
K657 K957
M Code 0 ~ 65,535 0 Word
%KW657 %KW957
K6586~87 K9586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10534~35 %KX15334~35
K654 K954
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD327 %KD477
K656 K956
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW656 %KW956

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6684 K9684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10692 %KX15492
K6682~83 K9682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10690~91 %KX15490~91
K6681 K9681
Control 0 : POS, 1 : SPD POS Bit
%KX10689 %KX15489
K6680 K9680
Method 0 : SIN, 1 : REP SIN Bit
%KX10688 %KX15488
K669 K969
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW669 %KW969
14
Address K660 K960
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD330 %KD480
K667 K967
M Code 0 ~ 65,535 0 Word
%KW667 %KW967
K6686~87 K9686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10694~95 %KX15494~95
K664 K964
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD332 %KD482
K666 K966
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW666 %KW966

App. 2 - 10
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6784 K9784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX10852 %KX15652
K6782~83 K9782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX10850~51 %KX15650~51
K6781 K9781
Control 0 : POS, 1 : SPD POS Bit
%KX10849 %KX15649
K6780 K9780
Method 0 : SIN, 1 : REP SIN Bit
%KX10848 %KX15648
K679 K979
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW679 %KW979
15
Address K670 K970
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD335 %KD485
K677 K977
M Code 0 ~ 65,535 0 Word
%KW677 %KW977
K6786~87 K9786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX10854~55 %KX15654~55
K674 K974
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD337 %KD487
K676 K976
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW676 %KW976

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6884 K9884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11012 %KX15812
K6882~83 K9882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11010~11 %KX15810~11
K6881 K9881
Control 0 : POS, 1 : SPD POS Bit
%KX11009 %KX15809
K6880 K9880
Method 0 : SIN, 1 : REP SIN Bit
%KX11008 %KX15808
K689 K989
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW689 %KW989
16
Address K680 K980
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD340 %KD490
K687 K987
M Code 0 ~ 65,535 0 Word
%KW687 %KW987
K6886~87 K9886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11014~15 %KX15814~15
K684 K984
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD342 %KD492
K686 K986
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW686 %KW986

App. 2 - 11
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K6984 K9984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11172 %KX15972
K6982~83 K9982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11170~71 %KX15970~71
K6981 K9981
Control 0 : POS, 1 : SPD POS Bit
%KX11169 %KX15969
K6980 K9980
Method 0 : SIN, 1 : REP SIN Bit
%KX11168 %KX15968
K699 K999
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW699 %KW999
17
Address K690 K990
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD345 %KD495
K697 K997
M Code 0 ~ 65,535 0 Word
%KW697 %KW997
K6986~87 K9986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11174~75 %KX15974~75
K694 K994
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD347 %KD497
K696 K996
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW696 %KW996

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7084 K10084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11332 %KX16132
K7082~83 K10082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11330~31 %KX16130~31
K7081 K10081
Control 0 : POS, 1 : SPD POS Bit
%KX11329 %KX16129
K7080 K10080
Method 0 : SIN, 1 : REP SIN Bit
%KX11328 %KX16128
K709 K1009
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW709 %KW1009
18
Address K700 K1000
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD350 %KD500
K707 K1007
M Code 0 ~ 65,535 0 Word
%KW707 %KW1007
K7086~87 K10086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11334~35 %KX16134~35
K704 K1004
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD352 %KD502
K706 K1006
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW706 %KW1006

App. 2 - 12
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7184 K10184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11492 %KX16292
K7182~83 K10182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11490~91 %KX16290~91
K7181 K10181
Control 0 : POS, 1 : SPD POS Bit
%KX11489 %KX16289
K7180 K10180
Method 0 : SIN, 1 : REP SIN Bit
%KX11488 %KX16288
K719 K1019
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW719 %KW1019
19
Address K710 K1010
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD355 %KD505
K717 K1017
M Code 0 ~ 65,535 0 Word
%KW717 %KW1017
K7186~87 K10186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11494~95 %KX16294~95
K714 K1014
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD357 %KD507
K716 K1016
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW716 %KW1016

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7284 K10284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11652 %KX16452
K7282~83 K10282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11650~51 %KX16450~51
K7281 K10281
Control 0 : POS, 1 : SPD POS Bit
%KX11649 %KX16449
K7280 K10280
Method 0 : SIN, 1 : REP SIN Bit
%KX11648 %KX16448
K729 K1029
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW729 %KW1029
20
Address K720 K1020
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD360 %KD510
K727 K1027
M Code 0 ~ 65,535 0 Word
%KW727 %KW1027
K7286~87 K10286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11654~55 %KX16454~55
K724 K1024
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD362 %KD512
K726 K1026
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW726 %KW1026

App. 2 - 13
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7384 K10384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11812 %KX16612
K7382~83 K10382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11810~11 %KX16610~11
K7381 K10381
Control 0 : POS, 1 : SPD POS Bit
%KX11809 %KX16609
K7380 K10380
Method 0 : SIN, 1 : REP SIN Bit
%KX11808 %KX16608
K739 K1039
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW739 %KW1039
21
Address K730 K1030
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD365 %KD515
K737 K1037
M Code 0 ~ 65,535 0 Word
%KW737 %KW1037
K7386~87 K10386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11814~15 %KX16614~15
K734 K1034
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD367 %KD517
K736 K1036
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW736 %KW1036

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7484 K10484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX11972 %KX16772
K7482~83 K10482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX11970~71 %KX16770~71
K7481 K10481
Control 0 : POS, 1 : SPD POS Bit
%KX11969 %KX16769
K7480 K10480
Method 0 : SIN, 1 : REP SIN Bit
%KX11968 %KX16768
K749 K1049
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW749 %KW1049
22
Address K740 K1040
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD370 %KD520
K747 K1047
M Code 0 ~ 65,535 0 Word
%KW747 %KW1047
K7486~87 K10486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX11974~75 %KX16774~75
K744 K1044
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD372 %KD522
K746 K1046
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW746 %KW1046

App. 2 - 14
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7584 K10584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12132 %KX16932
K7582~83 K10582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12130~31 %KX16930~31
K7581 K10581
Control 0 : POS, 1 : SPD POS Bit
%KX12129 %KX16929
K7580 K10580
Method 0 : SIN, 1 : REP SIN Bit
%KX12128 %KX16928
K759 K1059
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW759 %KW1059
23
Address K750 K1050
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD375 %KD525
K757 K1057
M Code 0 ~ 65,535 0 Word
%KW757 %KW1057
K7586~87 K10586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12134~35 %KX16934~35
K754 K1054
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD377 %KD527
K756 K1056
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW756 %KW1056

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7684 K10684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12292 %KX17092
K7682~83 K10682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12290~91 %KX17090~91
K7681 K10681
Control 0 : POS, 1 : SPD POS Bit
%KX12289 %KX17089
K7680 K10680
Method 0 : SIN, 1 : REP SIN Bit
%KX12288 %KX17088
K769 K1069
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW769 %KW1069
24
Address K760 K1060
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD380 %KD530
K767 K1067
M Code 0 ~ 65,535 0 Word
%KW767 %KW1067
K7686~87 K10686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12294~95 %KX17094~95
K764 K1064
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD382 %KD532
K766 K1066
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW766 %KW1066

App. 2 - 15
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7784 K10784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12452 %KX17252
K7782~83 K10782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12450~51 %KX17250~51
K7781 K10781
Control 0 : POS, 1 : SPD POS Bit
%KX12449 %KX17249
K7780 K10780
Method 0 : SIN, 1 : REP SIN Bit
%KX12448 %KX17248
K779 K1079
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW779 %KW1079
25
Address K770 K1070
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD385 %KD535
K777 K1077
M Code 0 ~ 65,535 0 Word
%KW777 %KW1077
K7786~87 K10786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12454~55 %KX17254~55
K774 K1074
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD387 %KD537
K776 K1076
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW776 %KW1076

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7884 K10884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12612 %KX17412
K7882~83 K10882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12610~11 %KX17410~11
K7881 K10881
Control 0 : POS, 1 : SPD POS Bit
%KX12609 %KX17409
K7880 K10880
Method 0 : SIN, 1 : REP SIN Bit
%KX12608 %KX17408
K789 K1089
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW789 %KW1089
26
Address K780 K1080
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD390 %KD540
K787 K1087
M Code 0 ~ 65,535 0 Word
%KW787 %KW1087
K7886~87 K10886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12614~15 %KX17414~15
K784 K1084
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD392 %KD542
K786 K1086
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW786 %KW1086

App. 2 - 16
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K7984 K10984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12772 %KX17572
K7982~83 K10982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12770~71 %KX17570~71
K7981 K10981
Control 0 : POS, 1 : SPD POS Bit
%KX12769 %KX17569
K7980 K10980
Method 0 : SIN, 1 : REP SIN Bit
%KX12768 %KX17568
K799 K1099
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW799 %KW1099
27
Address K790 K1090
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD395 %KD545
K797 K1097
M Code 0 ~ 65,535 0 Word
%KW797 %KW1097
K7986~87 K10986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12774~75 %KX17574~75
K794 K1094
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD397 %KD547
K796 K1096
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW796 %KW1096

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K8084 K11084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX12932 %KX17732
K8082~83 K11082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX12930~31 %KX17730~31
K8081 K11081
Control 0 : POS, 1 : SPD POS Bit
%KX12929 %KX17729
K8080 K11080
Method 0 : SIN, 1 : REP SIN Bit
%KX12928 %KX17728
K809 K1109
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW809 %KW1109
28
Address K800 K1100
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD400 %KD550
K807 K1107
M Code 0 ~ 65,535 0 Word
%KW807 %KW1107
K8086~87 K11086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX12934~35 %KX17734~35
K804 K1104
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD402 %KD552
K806 K1106
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW806 %KW1106

App. 2 - 17
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K8184 K11184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX13092 %KX17892
K8182~83 K11182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX13090~91 %KX17890~91
K8181 K11181
Control 0 : POS, 1 : SPD POS Bit
%KX13089 %KX17889
K8180 K11180
Method 0 : SIN, 1 : REP SIN Bit
%KX13088 %KX17888
K819 K1119
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW819 %KW1119
29
Address K810 K1110
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD405 %KD555
K817 K1117
M Code 0 ~ 65,535 0 Word
%KW817 %KW1117
K8186~87 K11186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX13094~95 %KX17894~95
K814 K1114
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD407 %KD557
K816 K1116
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW816 %KW1116

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K8284 K11284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX13252 %KX18052
K8282~83 K11282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX13250~51 %KX18050~51
K8281 K11281
Control 0 : POS, 1 : SPD POS Bit
%KX13249 %KX18049
K8280 K11280
Method 0 : SIN, 1 : REP SIN Bit
%KX13248 %KX18048
K829 K1129
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW829 %KW1129
30
Address K820 K1120
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD410 %KD560
K827 K1127
M Code 0 ~ 65,535 0 Word
%KW827 %KW1127
K8286~87 K11286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX13254~55 %KX18054~55
K824 K1124
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD412 %KD562
K826 K1126
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW826 %KW1126

App. 2 - 18
Appendix 2 Positioning Instruction and K area List

• Operation step 31~80 is available for only high end type (H type).

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23484 K28484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX37572 %KX45572
K23482~83 K28482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX37570~71 %KX45570~71
K23481 K28481
Control 0 : POS, 1 : SPD POS Bit
%KX37569 %KX45569
K23480 K28480
Method 0 : SIN, 1 : REP SIN Bit
%KX37568 %KX45568
K2349 K2849
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2349 %KW2849
31
Address K2340 K2840 Double
-2,147,483,648∼2,147,483,647 [pulse] 0
[pulse] %KD1170 %KD1420 word
K2347 K2847
M Code 0 ~ 65,535 0 Word
%KW2347 %KW2847
K23486~87 K28486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX37574~75 %KX45574~75
K2344 K2844 Double
Speed 1 ∼ 100,000[pulse/s] 0
%KD1172 %KD1422 word
K2346 K2846
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2346 %KW2846

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23584 K28584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX37732 %KX45732
K23582~83 K28582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX37730~31 %KX45730~31
K23581 K28581
Control 0 : POS, 1 : SPD POS Bit
%KX37729 %KX45729
K23580 K28580
Method 0 : SIN, 1 : REP SIN Bit
%KX37728 %KX45728
K2359 K2859
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2359 %KW2859
32
Address K2350 K2850 Double
-2,147,483,648∼2,147,483,647 [pulse] 0
[pulse] %KD1175 %KD1425 word
K2357 K2857
M Code 0 ~ 65,535 0 Word
%KW2357 %KW2857
K23586~87 K28586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX37734~35 %KX45734~35
K2354 K2854 Double
Speed 1 ∼ 100,000[pulse/s] 0
%KD1177 %KD1427 word
K2356 K2856
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2356 %KW2856

App. 2 - 19
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23684 K28684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX37892 %KX45892
K23682~83 K28682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX37890~91 %KX45890~91
K23681 K28681
Control 0 : POS, 1 : SPD POS Bit
%KX37889 %KX45889
K23680 K28680
Method 0 : SIN, 1 : REP SIN Bit
%KX37888 %KX45888
K2369 K2869
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2369 %KW2869
33
Address K2360 K2860 Double
-2,147,483,648∼2,147,483,647 [pulse] 0
[pulse] %KD1180 %KD1430 word
K2367 K2867
M Code 0 ~ 65,535 0 Word
%KW2367 %KW2867
K23686~87 K28686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX37894~95 %KX45894~95
K2364 K2864 Double
Speed 1 ∼ 100,000[pulse/s] 0
%KD1182 %KD1432 word
K2366 K2866
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2366 %KW2866

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23784 K28784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38052 %KX46052
K23782~83 K28782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38050~51 %KX46050~51
K23781 K28781
Control 0 : POS, 1 : SPD POS Bit
%KX38049 %KX46049
K23780 K28780
Method 0 : SIN, 1 : REP SIN Bit
%KX38048 %KX46048
K2379 K2879
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2379 %KW2879
34 K2370 K2870
Address Double
-2,147,483,648∼2,147,483,647 [pulse] 0
[pulse] %KD1185 %KD1435 word
K2377 K2877
M Code 0 ~ 65,535 0 Word
%KW2377 %KW2877
K23786~87 K28786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38054~55 %KX46054~55
K2374 K2874 Double
Speed 1 ∼ 100,000[pulse/s] 0
%KD1187 %KD1437 word
K2376 K2876
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2376 %KW2876

App. 2 - 20
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23884 K28884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38212 %KX46212
K23882~83 K28882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38210~11 %KX46210~11
K23881 K28881
Control 0 : POS, 1 : SPD POS Bit
%KX38209 %KX46209
K23880 K28880
Method 0 : SIN, 1 : REP SIN Bit
%KX38208 %KX46208
K2389 K2889
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2389 %KW2889
35
Address K2380 K2880
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1190 %KD1440
K2387 K2887
M Code 0 ~ 65,535 0 Word
%KW2387 %KW2887
K23886~87 K28886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38214~15 %KX46214~15
K2384 K2884
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1192 %KD1442
K2386 K2886
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2386 %KW2886

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K23984 K28984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38372 %KX46372
K23982~83 K28982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38370~71 %KX46370~71
K23981 K28981
Control 0 : POS, 1 : SPD POS Bit
%KX38369 %KX46369
K23980 K28980
Method 0 : SIN, 1 : REP SIN Bit
%KX38368 %KX46368
K2399 K2899
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2399 %KW2899
36
Address K2390 K2890
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1195 %KD1445
K2397 K2897
M Code 0 ~ 65,535 0 Word
%KW2397 %KW2897
K23986~87 K28986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38374~75 %KX46374~75
K2394 K2894
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1197 %KD1447
K2396 K2896
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2396 %KW2896

App. 2 - 21
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24084 K29084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38532 %KX46532
K24082~83 K29082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38530~31 %KX46530~31
K24081 K29081
Control 0 : POS, 1 : SPD POS Bit
%KX38529 %KX46529
K24080 K29080
Method 0 : SIN, 1 : REP SIN Bit
%KX38528 %KX46528
K2409 K2909
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2409 %KW2909
37
Address K2400 K2900
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1200 %KD1450
K2407 K2907
M Code 0 ~ 65,535 0 Word
%KW2407 %KW2907
K24086~87 K29086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38534~35 %KX46534~35
K2404 K2904
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1202 %KD1452
K2406 K2906
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2406 %KW2906

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24184 K29184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38692 %KX46692
K24182~83 K29182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38690~91 %KX46690~91
K24181 K29181
Control 0 : POS, 1 : SPD POS Bit
%KX38689 %KX46689
K24180 K29180
Method 0 : SIN, 1 : REP SIN Bit
%KX38688 %KX46688
K2419 K2919
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2419 %KW2919
38
Address K2410 K2910
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1205 %KD1455
K2417 K2917
M Code 0 ~ 65,535 0 Word
%KW2417 %KW2917
K24186~87 K29186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38694~95 %KX46694~95
K2414 K2914
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1207 %KD1457
K2416 K2916
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2416 %KW2916

App. 2 - 22
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24284 K29284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX38852 %KX46852
K24282~83 K29282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX38850~51 %KX46850~51
K24281 K29281
Control 0 : POS, 1 : SPD POS Bit
%KX38849 %KX46849
K24280 K29280
Method 0 : SIN, 1 : REP SIN Bit
%KX38848 %KX46848
K2429 K2929
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2429 %KW2929
39
Address K2420 K2920
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1210 %KD1460
K2427 K2927
M Code 0 ~ 65,535 0 Word
%KW2427 %KW2927
K24286~87 K29286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX38854~55 %KX46854~55
K2424 K2924
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1212 %KD1462
K2426 K2926
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2426 %KW2926

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24384 K29384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39012 %KX47012
K24382~83 K29382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39010~11 %KX47010~11
K24381 K29381
Control 0 : POS, 1 : SPD POS Bit
%KX39009 %KX47009
K24380 K29380
Method 0 : SIN, 1 : REP SIN Bit
%KX39008 %KX47008
K2439 K2939
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2439 %KW2939
40
Address K2430 K2930
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1215 %KD1465
K2437 K2937
M Code 0 ~ 65,535 0 Word
%KW2437 %KW2937
K24386~87 K29386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39014~15 %KX47014~15
K2434 K2934
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1217 %KD1467
K2436 K2936
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2436 %KW2936

App. 2 - 23
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24484 K29484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39172 %KX47172
K24482~83 K29482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39170~71 %KX47170~71
K24481 K29481
Control 0 : POS, 1 : SPD POS Bit
%KX39169 %KX47169
K24480 K29480
Method 0 : SIN, 1 : REP SIN Bit
%KX39168 %KX47168
K2449 K2949
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2449 %KW2949
41
Address K2440 K2940
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1220 %KD1470
K2447 K2947
M Code 0 ~ 65,535 0 Word
%KW2447 %KW2947
K24486~87 K29486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39174~75 %KX47174~75
K2444 K2944
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1222 %KD1472
K2446 K2946
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2446 %KW2946

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24584 K29584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39332 %KX47332
K24582~83 K29582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39330~31 %KX47330~31
K24581 K29581
Control 0 : POS, 1 : SPD POS Bit
%KX39329 %KX47329
K24580 K29580
Method 0 : SIN, 1 : REP SIN Bit
%KX39328 %KX47328
K2459 K2959
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2459 %KW2959
42 K2450 K2950
Address
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1225 %KD1475
K2457 K2957
M Code 0 ~ 65,535 0 Word
%KW2457 %KW2957
K24586~87 K29586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39334~35 %KX47334~35
K2454 K2954
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1227 %KD1477
K2456 K2956
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2456 %KW2956

App. 2 - 24
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24684 K29684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39492 %KX47492
K24682~83 K29682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39490~91 %KX47490~91
K24681 K29681
Control 0 : POS, 1 : SPD POS Bit
%KX39489 %KX47489
K24680 K29680
Method 0 : SIN, 1 : REP SIN Bit
%KX39488 %KX47488
K2469 K2969
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2469 %KW2969
43
Address K2460 K2960
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1230 %KD1480
K2467 K2967
M Code 0 ~ 65,535 0 Word
%KW2467 %KW2967
K24686~87 K29686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39494~95 %KX47494~95
K2464 K2964
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1232 %KD1482
K2466 K2966
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2466 %KW2966

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24784 K29784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39652 %KX47652
K24782~83 K29782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39650~51 %KX47650~51
K24781 K29781
Control 0 : POS, 1 : SPD POS Bit
%KX39649 %KX47649
K24780 K29780
Method 0 : SIN, 1 : REP SIN Bit
%KX39648 %KX47648
K2479 K2979
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2479 %KW2979
44
Address K2470 K2970
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1235 %KD1485
K2477 K2977
M Code 0 ~ 65,535 0 Word
%KW2477 %KW2977
K24786~87 K29786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39654~55 %KX47654~55
K2474 K2974
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1237 %KD1487
K2476 K2976
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2476 %KW2976

App. 2 - 25
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24884 K29884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39812 %KX47812
K24882~83 K29882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39810~11 %KX47810~11
K24881 K29881
Control 0 : POS, 1 : SPD POS Bit
%KX39809 %KX47809
K24880 K29880
Method 0 : SIN, 1 : REP SIN Bit
%KX39808 %KX47808
K2489 K2989
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2489 %KW2989
45
Address K2480 K2980
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1240 %KD1490
K2487 K2987
M Code 0 ~ 65,535 0 Word
%KW2487 %KW2987
K24886~87 K29886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39814~15 %KX47814~15
K2484 K2984
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1242 %KD1492
K2486 K2986
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2486 %KW2986

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K24984 K29984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX39972 %KX47972
K24982~83 K29982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX39970~71 %KX47970~71
K24981 K29981
Control 0 : POS, 1 : SPD POS Bit
%KX39969 %KX47969
K24980 K29980
Method 0 : SIN, 1 : REP SIN Bit
%KX39968 %KX47968
K2499 K2999
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2499 %KW2999
46
Address K2490 K2990
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1245 %KD1495
K2497 K2997
M Code 0 ~ 65,535 0 Word
%KW2497 %KW2997
K24986~87 K29986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX39974~75 %KX47974~75
K2494 K2994
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1247 %KD1497
K2496 K2996
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2496 %KW2996

App. 2 - 26
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25084 K30084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40132 %KX48132
K25082~83 K30082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40130~31 %KX48130~31
K25081 K30081
Control 0 : POS, 1 : SPD POS Bit
%KX40129 %KX48129
K25080 K30080
Method 0 : SIN, 1 : REP SIN Bit
%KX40128 %KX48128
K2509 K3009
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2509 %KW3009
47
Address K2500 K3000
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1250 %KD1500
K2507 K3007
M Code 0 ~ 65,535 0 Word
%KW2507 %KW3007
K25086~87 K30086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40134~35 %KX48134~35
K2504 K3004
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1252 %KD1502
K2506 K3006
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2506 %KW3006

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25184 K30184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40292 %KX48292
K25182~83 K30182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40290~91 %KX48290~91
K25181 K30181
Control 0 : POS, 1 : SPD POS Bit
%KX40289 %KX48289
K25180 K30180
Method 0 : SIN, 1 : REP SIN Bit
%KX40288 %KX48288
K2519 K3019
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2519 %KW3019
48
Address K2510 K3010
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1255 %KD1505
K2517 K3017
M Code 0 ~ 65,535 0 Word
%KW2517 %KW3017
K25186~87 K30186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40294~95 %KX48294~95
K2514 K3014
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1257 %KD1507
K2516 K3016
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2516 %KW3016

App. 2 - 27
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25284 K30284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40452 %KX48452
K25282~83 K30282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40450~51 %KX48450~51
K25281 K30281
Control 0 : POS, 1 : SPD POS Bit
%KX40449 %KX48449
K25280 K30280
Method 0 : SIN, 1 : REP SIN Bit
%KX40448 %KX48448
K2529 K3029
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2529 %KW3029
49
Address K2520 K3020
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1260 %KD1510
K2527 K3027
M Code 0 ~ 65,535 0 Word
%KW2527 %KW3027
K25286~87 K30286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40454~55 %KX48454~55
K2524 K3024
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1262 %KD1512
K2526 K3026
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2526 %KW3026

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25384 K30384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40612 %KX48612
K25382~83 K30382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40610~11 %KX48610~11
K25381 K30381
Control 0 : POS, 1 : SPD POS Bit
%KX40609 %KX48609
K25380 K30380
Method 0 : SIN, 1 : REP SIN Bit
%KX40608 %KX48608
K2539 K3039
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2539 %KW3039
50 K2530 K3030
Address
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1265 %KD1515
K2537 K3037
M Code 0 ~ 65,535 0 Word
%KW2537 %KW3037
K25386~87 K30386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40614~15 %KX48614~15
K2534 K3034
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1267 %KD1517
K2536 K3036
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2536 %KW3036

App. 2 - 28
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25484 K30484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40772 %KX48772
K25482~83 K30482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40770~71 %KX48770~71
K25481 K30481
Control 0 : POS, 1 : SPD POS Bit
%KX40769 %KX48769
K25480 K30480
Method 0 : SIN, 1 : REP SIN Bit
%KX40768 %KX48768
K2549 K3049
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2549 %KW3049
51
Address K2540 K3040
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1270 %KD1520
K2547 K3047
M Code 0 ~ 65,535 0 Word
%KW2547 %KW3047
K25486~87 K30486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40774~75 %KX48774~75
K2544 K3044
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1272 %KD1522
K2546 K3046
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2546 %KW3046

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25584 K30584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX40932 %KX48932
K25582~83 K30582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX40930~31 %KX48930~31
K25581 K30581
Control 0 : POS, 1 : SPD POS Bit
%KX40929 %KX48929
K25580 K30580
Method 0 : SIN, 1 : REP SIN Bit
%KX40928 %KX48928
K2559 K3059
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2559 %KW3059
52
Address K2550 K3050
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1275 %KD1525
K2557 K3057
M Code 0 ~ 65,535 0 Word
%KW2557 %KW3057
K25586~87 K30586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX40934~35 %KX48934~35
K2554 K3054
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1277 %KD1527
K2556 K3056
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2556 %KW3056

App. 2 - 29
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25684 K30684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41092 %KX49092
K25682~83 K30682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41090~91 %KX49090~91
K25681 K30681
Control 0 : POS, 1 : SPD POS Bit
%KX41089 %KX49089
K25680 K30680
Method 0 : SIN, 1 : REP SIN Bit
%KX41088 %KX49088
K2569 K3069
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2569 %KW3069
53
Address K2560 K3060
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1280 %KD1530
K2567 K3067
M Code 0 ~ 65,535 0 Word
%KW2567 %KW3067
K25686~87 K30686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41094~95 %KX49094~95
K2564 K3064
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1282 %KD1532
K2566 K3066
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2566 %KW3066

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25784 K30784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41252 %KX49252
K25782~83 K30782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41250~51 %KX49250~51
K25781 K30781
Control 0 : POS, 1 : SPD POS Bit
%KX41249 %KX49249
K25780 K30780
Method 0 : SIN, 1 : REP SIN Bit
%KX41248 %KX49248
K2579 K3079
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2579 %KW3079
54
Address K2570 K3070
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1285 %KD1535
K2577 K3077
M Code 0 ~ 65,535 0 Word
%KW2577 %KW3077
K25786~87 K30786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41254~55 %KX49254~55
K2574 K3074
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1287 %KD1537
K2576 K3076
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2576 %KW3076

App. 2 - 30
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25884 K30884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41412 %KX49412
K25882~83 K30882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41410~11 %KX49410~11
K25881 K30881
Control 0 : POS, 1 : SPD POS Bit
%KX41409 %KX49409
K25880 K30880
Method 0 : SIN, 1 : REP SIN Bit
%KX41408 %KX49408
K2589 K3089
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2589 %KW3089
55
Address K2580 K3080
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1290 %KD1540
K2587 K3087
M Code 0 ~ 65,535 0 Word
%KW2587 %KW3087
K25886~87 K30886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41414~15 %KX49414~15
K2584 K3084
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1292 %KD1542
K2586 K3086
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2586 %KW3086

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K25984 K30984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41572 %KX49572
K25982~83 K30982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41570~71 %KX49570~71
K25981 K30981
Control 0 : POS, 1 : SPD POS Bit
%KX41569 %KX49569
K25980 K30980
Method 0 : SIN, 1 : REP SIN Bit
%KX41568 %KX49568
K2599 K3099
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2599 %KW3099
56 K2590 K3090
Address
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1295 %KD1545
K2597 K3097
M Code 0 ~ 65,535 0 Word
%KW2597 %KW3097
K25986~87 K30986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41574~75 %KX49574~75
K2594 K3094
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1297 %KD1547
K2596 K3096
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2596 %KW3096

App. 2 - 31
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26084 K31084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41732 %KX49732
K26082~83 K31082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41730~31 %KX49730~31
K26081 K31081
Control 0 : POS, 1 : SPD POS Bit
%KX41729 %KX49729
K26080 K31080
Method 0 : SIN, 1 : REP SIN Bit
%KX41728 %KX49728
K2609 K3109
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2609 %KW3109
57
Address K2600 K3100
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1300 %KD1550
K2607 K3107
M Code 0 ~ 65,535 0 Word
%KW2607 %KW3107
K26086~87 K31086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41734~35 %KX49734~35
K2604 K3104
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1302 %KD1552
K2606 K3106
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2606 %KW3106

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26184 K31184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX41892 %KX49892
K26182~83 K31182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX41890~91 %KX49890~91
K26181 K31181
Control 0 : POS, 1 : SPD POS Bit
%KX41889 %KX49889
K26180 K31180
Method 0 : SIN, 1 : REP SIN Bit
%KX41888 %KX49888
K2619 K3119
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2619 %KW3119
58
Address K2610 K3110
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1305 %KD1555
K2617 K3117
M Code 0 ~ 65,535 0 Word
%KW2617 %KW3117
K26186~87 K31186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX41894~95 %KX49894~95
K2614 K3114
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1307 %KD1557
K2616 K3116
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2616 %KW3116

App. 2 - 32
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26284 K31284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42052 %KX50052
K26282~83 K31282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42050~51 %KX50050~51
K26281 K31281
Control 0 : POS, 1 : SPD POS Bit
%KX42049 %KX50049
K26280 K31280
Method 0 : SIN, 1 : REP SIN Bit
%KX42048 %KX50048
K2629 K3129
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2629 %KW3129
59
Address K2620 K3120
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1310 %KD1560
K2627 K3127
M Code 0 ~ 65,535 0 Word
%KW2627 %KW3127
K26286~87 K31286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42054~55 %KX50054~55
K2624 K3124
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1312 %KD1562
K2626 K3126
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2626 %KW3126

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26384 K31384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42212 %KX50212
K26382~83 K31382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42210~11 %KX50210~11
K26381 K31381
Control 0 : POS, 1 : SPD POS Bit
%KX42209 %KX50209
K26380 K31380
Method 0 : SIN, 1 : REP SIN Bit
%KX42208 %KX50208
K2639 K3139
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2639 %KW3139
60
Address K2630 K3130
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1315 %KD1565
K2637 K3137
M Code 0 ~ 65,535 0 Word
%KW2637 %KW3137
K26386~87 K31386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42214~15 %KX50214~15
K2634 K3134
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1317 %KD1567
K2636 K3136
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2636 %KW3136

App. 2 - 33
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26484 K31484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42372 %KX50372
K26482~83 K31482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42370~71 %KX50370~71
K26481 K31481
Control 0 : POS, 1 : SPD POS Bit
%KX42369 %KX50369
K26480 K31480
Method 0 : SIN, 1 : REP SIN Bit
%KX42368 %KX50368
K2649 K3149
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2649 %KW3149
61
Address K2640 K3140
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1320 %KD1570
K2647 K3147
M Code 0 ~ 65,535 0 Word
%KW2647 %KW3147
K26486~87 K31486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42374~75 %KX50374~75
K2644 K3144
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1322 %KD1572
K2646 K3146
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2646 %KW3146

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26584 K31584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42532 %KX50532
K26582~83 K31582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42530~31 %KX50530~31
K26581 K31581
Control 0 : POS, 1 : SPD POS Bit
%KX42529 %KX50529
K26580 K31580
Method 0 : SIN, 1 : REP SIN Bit
%KX42528 %KX50528
K2659 K3159
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2659 %KW3159
62
Address K2650 K3150
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1325 %KD1575
K2657 K3157
M Code 0 ~ 65,535 0 Word
%KW2657 %KW3157
K26586~87 K31586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42534~35 %KX50534~35
K2654 K3154
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1327 %KD1577
K2656 K3156
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2656 %KW3156

App. 2 - 34
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26684 K31684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42692 %KX50692
K26682~83 K31682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42690~91 %KX50690~91
K26681 K31681
Control 0 : POS, 1 : SPD POS Bit
%KX42689 %KX50689
K26680 K31680
Method 0 : SIN, 1 : REP SIN Bit
%KX42688 %KX50688
K2669 K3169
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2669 %KW3169
63 Address K2660 K3160
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1330 %KD1580
K2667 K3167
M Code 0 ~ 65,535 0 Word
%KW2667 %KW3167
K26686~87 K31686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42694~95 %KX50694~95
K2664 K3164
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1332 %KD1582
K2666 K3166
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2666 %KW3166

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26784 K31784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX42852 %KX50852
K26782~83 K31782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX42850~51 %KX50850~51
K26781 K31781
Control 0 : POS, 1 : SPD POS Bit
%KX42849 %KX50849
K26780 K31780
Method 0 : SIN, 1 : REP SIN Bit
%KX42848 %KX50848
K2679 K3179
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2679 %KW3179
64
Address K2670 K3170
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1335 %KD1585
K2677 K3177
M Code 0 ~ 65,535 0 Word
%KW2677 %KW3177
K26786~87 K31786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX42854~55 %KX50854~55
K2674 K3174
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1337 %KD1587
K2676 K3176
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2676 %KW3176

App. 2 - 35
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26884 K31884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43012 %KX51012
K26882~83 K31882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43010~11 %KX51010~11
K26881 K31881
Control 0 : POS, 1 : SPD POS Bit
%KX43009 %KX51009
K26880 K31880
Method 0 : SIN, 1 : REP SIN Bit
%KX43008 %KX51008
K2689 K3189
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2689 %KW3189
65
Address K2680 K3180
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1340 %KD1590
K2687 K3187
M Code 0 ~ 65,535 0 Word
%KW2687 %KW3187
K26886~87 K31886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43014~15 %KX51014~15
K2684 K3184
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1342 %KD1592
K2686 K3186
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2686 %KW3186

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K26984 K31984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43172 %KX51172
K26982~83 K31982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43170~71 %KX51170~71
K26981 K31981
Control 0 : POS, 1 : SPD POS Bit
%KX43169 %KX51169
K26980 K31980
Method 0 : SIN, 1 : REP SIN Bit
%KX43168 %KX51168
K2699 K3199
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2699 %KW3199
66
Address K2690 K3190
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1345 %KD1595
K2697 K3197
M Code 0 ~ 65,535 0 Word
%KW2697 %KW3197
K26986~87 K31986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43174~75 %KX51174~75
K2694 K3194
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1347 %KD1597
K2696 K3196
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2696 %KW3196

App. 2 - 36
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27084 K32084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43332 %KX51332
K27082~83 K32082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43330~31 %KX51330~31
K27081 K32081
Control 0 : POS, 1 : SPD POS Bit
%KX43329 %KX51329
K27080 K32080
Method 0 : SIN, 1 : REP SIN Bit
%KX43328 %KX51328
K2709 K3209
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2709 %KW3209
67
Address K2700 K3200
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1350 %KD1600
K2707 K3207
M Code 0 ~ 65,535 0 Word
%KW2707 %KW3207
K27086~87 K32086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43334~35 %KX51334~35
K2704 K3204
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1352 %KD1602
K2706 K3206
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2706 %KW3206

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27184 K32184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43492 %KX51492
K27182~83 K32182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43490~91 %KX51490~91
K27181 K32181
Control 0 : POS, 1 : SPD POS Bit
%KX43489 %KX51489
K27180 K32180
Method 0 : SIN, 1 : REP SIN Bit
%KX43488 %KX51488
K2719 K3219
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2719 %KW3219
68
Address K2710 K3210
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1355 %KD1605
K2717 K3217
M Code 0 ~ 65,535 0 Word
%KW2717 %KW3217
K27186~87 K32186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43494~95 %KX51494~95
K2714 K3214
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1357 %KD1607
K2716 K3216
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2716 %KW3216

App. 2 - 37
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27284 K32284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43652 %KX51652
K27282~83 K32282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43650~51 %KX51650~51
K27281 K32281
Control 0 : POS, 1 : SPD POS Bit
%KX43649 %KX51649
K27280 K32280
Method 0 : SIN, 1 : REP SIN Bit
%KX43648 %KX51648
K2729 K3229
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2729 %KW3229
69
Address K2720 K3220
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1360 %KD1610
K2727 K3227
M Code 0 ~ 65,535 0 Word
%KW2727 %KW3227
K27286~87 K32286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43654~55 %KX51654~55
K2724 K3224
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1362 %KD1612
K2726 K3226
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2726 %KW3226

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27384 K32384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43812 %KX51812
K27382~83 K32382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43810~11 %KX51810~11
K27381 K32381
Control 0 : POS, 1 : SPD POS Bit
%KX43809 %KX51809
K27380 K32380
Method 0 : SIN, 1 : REP SIN Bit
%KX43808 %KX51808
K2739 K3239
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2739 %KW3239
70
Address K2730 K3230
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1365 %KD1615
K2737 K3237
M Code 0 ~ 65,535 0 Word
%KW2737 %KW3237
K27386~87 K32386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43814~15 %KX51814~15
K2734 K3234
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1367 %KD1617
K2736 K3236
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2736 %KW3236

App. 2 - 38
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27484 K32484
Coord. 0 : ABS, 1 : INC ABS Bit
%KX43972 %KX51972
K27482~83 K32482~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX43970~71 %KX51970~71
K27481 K32481
Control 0 : POS, 1 : SPD POS Bit
%KX43969 %KX51969
K27480 K32480
Method 0 : SIN, 1 : REP SIN Bit
%KX43968 %KX51968
K2749 K3249
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2749 %KW3249
71
Address K2740 K3240
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1370 %KD1620
K2747 K3247
M Code 0 ~ 65,535 0 Word
%KW2747 %KW3247
K27486~87 K32486~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX43974~75 %KX51974~75
K2744 K3244
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1372 %KD1622
K2746 K3246
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2746 %KW3246

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27584 K32584
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44132 %KX52132
K27582~83 K32582~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44130~31 %KX52130~31
K27581 K32581
Control 0 : POS, 1 : SPD POS Bit
%KX44129 %KX52129
K27580 K32580
Method 0 : SIN, 1 : REP SIN Bit
%KX44128 %KX52128
K2759 K3259
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2759 %KW3259
72
Address K2750 K3250
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1375 %KD1625
K2757 K3257
M Code 0 ~ 65,535 0 Word
%KW2757 %KW3257
K27586~87 K32586~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44134~35 %KX52134~35
K2754 K3254
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1377 %KD1627
K2756 K3256
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2756 %KW3256

App. 2 - 39
 Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27684 K32684
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44292 %KX52292
K27682~83 K32682~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44290~91 %KX52290~91
K27681 K32681
Control 0 : POS, 1 : SPD POS Bit
%KX44289 %KX52289
K27680 K32680
Method 0 : SIN, 1 : REP SIN Bit
%KX44288 %KX52288
K2769 K3269
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2769 %KW3269
73
Address K2760 K3260
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1380 %KD1630
K2767 K3267
M Code 0 ~ 65,535 0 Word
%KW2767 %KW3267
K27686~87 K32686~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44294~95 %KX52294~95
K2764 K3264
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1382 %KD1632
K2766 K3266
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2766 %KW3266

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27784 K32784
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44452 %KX52452
K27782~83 K32782~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44450~51 %KX52450~51
K27781 K32781
Control 0 : POS, 1 : SPD POS Bit
%KX44449 %KX52449
K27780 K32780
Method 0 : SIN, 1 : REP SIN Bit
%KX44448 %KX52448
K2779 K3279
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2779 %KW3279
74
Address K2770 K3270
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1385 %KD1635
K2777 K3277
M Code 0 ~ 65,535 0 Word
%KW2777 %KW3277
K27786~87 K32786~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44454~55 %KX52454~55
K2774 K3274
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1387 %KD1637
K2776 K3276
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2776 %KW3276

App. 2 - 40
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27884 K32884
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44612 %KX52612
K27882~83 K32882~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44610~11 %KX52610~11
K27881 K32881
Control 0 : POS, 1 : SPD POS Bit
%KX44609 %KX52609
K27880 K32880
Method 0 : SIN, 1 : REP SIN Bit
%KX44608 %KX52608
K2789 K3289
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2789 %KW3289
75
Address K2780 K3280
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1390 %KD1640
K2787 K3287
M Code 0 ~ 65,535 0 Word
%KW2787 %KW3287
K27886~87 K32886~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44614~15 %KX52614~15
K2784 K3284
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1392 %KD1642
K2786 K3286
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2786 %KW3286

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K27984 K32984
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44772 %KX52772
K27982~83 K32982~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44770~71 %KX52770~71
K27981 K32981
Control 0 : POS, 1 : SPD POS Bit
%KX44769 %KX52769
K27980 K32980
Method 0 : SIN, 1 : REP SIN Bit
%KX44768 %KX52768
K2799 K3299
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2799 %KW3299
76
Address K2790 K3290
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1395 %KD1645
K2797 K3297
M Code 0 ~ 65,535 0 Word
%KW2797 %KW3297
K27986~87 K32986~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44774~75 %KX52774~75
K2794 K3294
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1397 %KD1647
K2796 K3296
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2796 %KW3296

App. 2 - 41
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K28084 K33084
Coord. 0 : ABS, 1 : INC ABS Bit
%KX44932 %KX52932
K28082~83 K33082~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX44930~31 %KX52930~31
K28081 K33081
Control 0 : POS, 1 : SPD POS Bit
%KX44929 %KX52929
K28080 K33080
Method 0 : SIN, 1 : REP SIN Bit
%KX44928 %KX52928
K2809 K3309
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2809 %KW3309
77
Address K2800 K3300
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1400 %KD1650
K2807 K3307
M Code 0 ~ 65,535 0 Word
%KW2807 %KW3307
K28086~87 K33086~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX44934~35 %KX52934~35
K2804 K3304
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1402 %KD1652
K2806 K3306
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2806 %KW3306

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K28184 K33184
Coord. 0 : ABS, 1 : INC ABS Bit
%KX45092 %KX53092
K28182~83 K33182~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX45090~91 %KX53090~91
K28181 K33181
Control 0 : POS, 1 : SPD POS Bit
%KX45089 %KX53089
K28180 K33180
Method 0 : SIN, 1 : REP SIN Bit
%KX45088 %KX53088
K2819 K3319
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2819 %KW3319
78
Address K2810 K3310
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1405 %KD1655
K2817 K3317
M Code 0 ~ 65,535 0 Word
%KW2817 %KW3317
K28186~87 K33186~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX45094~95 %KX53094~95
K2814 K3314
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1407 %KD1657
K2816 K3316
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2816 %KW3316

App. 2 - 42
Appendix 2 Positioning Instruction and K area List

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K28284 K33284
Coord. 0 : ABS, 1 : INC ABS Bit
%KX45252 %KX53252
K28282~83 K33282~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX45250~51 %KX53250~51
K28281 K33281
Control 0 : POS, 1 : SPD POS Bit
%KX45249 %KX53249
K28280 K33280
Method 0 : SIN, 1 : REP SIN Bit
%KX45248 %KX53248
K2829 K3329
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2829 %KW3329
79
Address K2820 K3320
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1410 %KD1660
K2827 K3327
M Code 0 ~ 65,535 0 Word
%KW2827 %KW3327
K28286~87 K33286~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX45254~55 %KX53254~55
K2824 K3324
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1412 %KD1662
K2826 K3326
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2826 %KW3326

Initial Dedicated K area

Step Item Setting range Data size
value X axis Y axis
K28384 K33384
Coord. 0 : ABS, 1 : INC ABS Bit
%KX45412 %KX53412
K28382~83 K33382~83
Pattern 0 : END, 1 : KEEP, 2 : CONT END Bit
%KX45410~11 %KX53410~11
K28381 K33381
Control 0 : POS, 1 : SPD POS Bit
%KX45409 %KX53409
K28380 K33380
Method 0 : SIN, 1 : REP SIN Bit
%KX45408 %KX53408
K2839 K3339
REP Step 0 ~ 30 (0 ~ 80 for high - end) 0 Word
%KW2839 %KW3339
80
Address K2830 K3330
-2,147,483,648∼2,147,483,647 [pulse] 0 Double word
[pulse] %KD1415 %KD1665
K2837 K3337
M Code 0 ~ 65,535 0 Word
%KW2837 %KW3337
K28386~87 K33386~87
A/D No. 0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4 0 Bit
%KX45414~15 %KX53414~15
K2834 K3334
Speed 1 ∼ 100,000[pulse/s] 0 Double word
%KD1417 %KD1667
K2836 K3336
Dwell 0 ~ 50,000[unit:㎳] 0 Word
%KW2836 %KW3336

App. 2 - 43
Appendix 3 Motor Wiring Example

Appendix 3 Motor Wiring Example

Appendix 3.1 Stepping Motor Wiring Example

Here describes wiring example between XGB and stepping motor.

In case of using stepping motor not described here, refer to relevant driver’s user manual.

(1) Connection to a stepping motor driver (DC5V Power)

Max. 2m (Note 4)
XGB PLC
Stepping motor driver
Signal Ch0 Ch1
Pulse P20 P21 CW-
Common COM COM CW+
Direction P22 P23 CCW-
Common COM COM CCW+
+24V input DC24V DC24V DC5V

(Note5)
(Note 1) TIMING
DOG P04 P06
Origin P05 P07 COM
Low limit P00 P02
Upper limit P01 P03
(Note3) Emg. Stop Input

DC24V
Common COM0(input

(2) Connection to a stepping motor driver (DC24V Power)

Max. 2m (Note 4)
XGB PLC
Stepping motor driver
Signal Ch0 Ch1
Pulse P20 P21 CW-
Common COM COM 2K, 1/2W CW+
(Note2)
Direction P22 P23 CCW-
Common COM COM 2K, 1/2W CCW+
+24V Input DC24V DC24V
DC24V

(Note5) (Note1)
DOG P04 P06 TIMING
Origin P05 P07 COM
Low limit P00 P02
High limit P01 P03
(Note3) Emg. stop Input

DC24V
Common COM0(Input

(Note1) In case of VEXTA PKD, timing output is on every time a motor rotates 7.2 degrees. For precise home return,
timing output and origin sensor should be structured by AND circuit. Depending on a system’s features, it is
recommended to use home return only by DOG signal or origin sensor by origin signal (XGB origin input
rating is DC 24V).
(Note2) Connect resistors suitable for the driver in series if DC24V is used.
(Note3) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they
are not used. Emergency stop is available by the command (EMG).
(Note4) In case of XGB standard type, since only pulse + direction mode is available, change input mode of stepping
motor driver to 1 phase input mode.
(Note 5) The above figure is example of XGB standard type. For high-end type, Origin, DOG, upper/lower limit input
contact point is different with standard type.

App.3 - 1
 Appendix 3 Motor Wiring Example

Appendix 3.2 Servo Motor Wiring Example

Here describes wiring example between XGB and servo motor.

In case of using servo motor not described here, refer to relevant driver’s user manual.

(1) Connection to a servo motor driver (MR-J2/J2S-□ A)

HC-MF HA-FF
Series motor
NF MC MR-J2S- A
TE1 U
L1 U
Power supply V
L2 V SM
3-phase 200VAC W
L3 W
E
L11
L21 PE
EMG B1
CTE2 PE
D
P 24VDC B2
Electronical brake
CN1A Off by server On signal
Less than Max. 2m Cutoff by alarm signal
XGB PLC Detector

CN2

Signal Ch0 Ch1 (Note3)

Pulse P20 P21 PP 3
Common COM COM SG 10
Direction P22 P23 NP 2
Common COM COM
+24V Input DC24V DC24V OPC 11
COM 9

(Note
DOG P05 P07 1) OP 14
Origin P04 P06 LG 1
CN3
Low limit P00 P02 SD Plate RD
(Note 12 TxD
High limit P01 P03 2 RxD SD
Emg stop Input 1 LG GND
Personal
11 LG GND computer
DC24V
Common COM0(Input 5 LG RS
15 LG CS
CN1E DR
External Emg. stop
EMG 15 ER
Servo On
SOn 5
Reset
RES 14 Monitor output
Proportional control
PC 8 4 GND A
Torque limit 10k Max. 10mA
TL 9 3 RS
*3 Operation limit
LSP 16 14 CS A
*3 Reverse operation limit 10k
LSN 17 13 DR
SG 10 Plate ER
SG 20 Less than 2m
VDD 3
COM 13
RA1
ALM 18
Error RA2
ZSP 19
Zero speed detection RA3
In torque limit TLC 6

P15R 11
Analog torque limit
+10V/Max. limit TLA 12
LG 1
SD Plate
Less than 2m

(Note1) The rating of XGB origin input is DC24V. Make sure to connect the open collector output of a driver.
(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they
are not used. Emergency stop is available by the command (EMG).
(Note3) In case of XGB standard type, since only pulse + direction mode is available, change input mode of servo
motor driver to 1 phase input mode.
(Note4) The above figure is example of XGB standard type. For high-end type, Origin, DOG, upper/lower limit input
contact point is different with standard type.

App.3 - 2
Appendix 3 Motor Wiring Example

(2) Connection to a servo motor driver (FDA-5000 AC Servo Driver)

K7M-DRT**U Max. 2m (Note4)

FDA-5000
Signal Ch0 Ch1 (Note3)
Pulse P20 P21 10 PFIN
Common COM COM 1.5K,1/2W 11 PPFIN
Direction P22 P23 12 PRIN
Common COM COM 24G P24V 1.5K,1/2W 9 PPRIN
+24V Input DC24V DC24V
Origin P04 P06 5 PZO+
(Note1) 30 PZO-
21 RDY
DOG P04 P06 22 INPOS
Low limit P00 P02 47 0 SPEED
(Note2
) High limit P01 P03 48 BRAKE
Emg. stop Input 20 ALARM
45 A_CODE0
Common COM0(Input P24V 19 A_CODE1
44 A_CODE2
24 GND24
25 GND24
18 SVOnEN
38 CLR
15 CCWLIM
40 CWLIM
39 ESTOP
38 ALMRST
24G 41 P/P1
14 TLIM

49 +24VIN

(Note1) The rating of XGB is 24VDC. If it is line driver output, contact is not connected. In the case, use a convert from line
driver output to open collector output or use home return only by DOG signal/origin sensor of origin signal.
(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they are not
used. Emergency stop is available by the command (EMG).
(Note3) If using DC24V, make sure to connect resistor suitable for a driver (1.5K,1/2W) in series.
(Note4) Since the positioning pulse of XGB forward/reverse-rotates by the rotation direction as in the below figure, make
sure to change the input mode of a servo motor driver into 1 phase input mode prior to use.

App.3 - 3
Appendix 3 Motor Wiring Example

(3) Connection to a servo motor driver (XGT Servo XDA-S)

(a) In case of XBM-DN**S

Servo motor

Power AC

Input Common

Lower limit
Upper limit
Input contact
Emergency stop

Origin Note1
Note2
DOG
External power
input terminal

Pulse

Direction

Output Common

(Note1) The rating of Origin input for XGB stand type is 24VDC. If it is line driver output, contact can’t be connected. In the
case, use a convert from line driver output to open collector output or use home return only by DOG signal/origin
sensor of origin signal.
(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they are
not used. Emergency stop is available by the command (EMG).
(Note3) The above wiring is applied when P07-01=27(positioning mode)
(Note4) Since only pulse + direction mode is available for XGB standard type, make sure to change the input mode of a
servo motor driver into pulse + direction mode prior to use
(Note5) In the above wiring, Axis X of XGB standard built-in positioning is used.

App.3 - 4
Appendix 3 Motor Wiring Example

(b) In case of XBC/XEC-DN**H

Servo motor

Power AC

Input Common

Lower limit
Note2 P0008 (%IX0.0.8)
Upper limit
P0009 (%IX0.0.9)
Emergency Stop

Origin
P000D (%IX0.0.13) Note1

DOG
P000C (%IX0.0.12)

External DC24V
Input terminal

(Note1) The rating of Origin input for XGB stand type is 24VDC. If it is line driver output, contact can’t be connected. In the
case, use a convert from line driver output to open collector output or use home return only by DOG signal/origin
sensor of origin signal.
(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they are
not used. Emergency stop is available by the command (EMG).
(Note3) The above wiring is applied when P07-01=27(positioning mode)
(Note4) Since pulse + direction mode and CW/CCW mode are available for XGB high-end type, make sure to change the
input mode of a servo motor driver according to output mode of positioning module
(Note5) In the above wiring, Axis X of XGB high-end type built-in positioning is used.

App.3 - 5
Appendix 3 Motor Wiring Example

(4) Connection to a servo motor driver (XGT Servo XDL-S)

(a) In case of XBM-DN**S

※ This picture is based on 1-axis. For more information about 2-axis wiring, refer to
pin information.

(Note1) Input Signal DI1~DIA, Output Signal DO1~DO5 is assigned initial signal from factory shipment
(Note2) ** Not assigned Signal. Allocation can be changed by setting servo parameter

App.3 - 6
Appendix 3 Motor Wiring Example

(b) In case of XBC/XEC-DN**H

※This picture is based on 1-axis. For more information about 2-axis wiring, refer to
pin information.

(Note1) Input Signal DI1~DIA, Output Signal DO1~DO5 is assigned initial signal from factory shipment
(Note2) ** Not assigned Signal. Allocation can be changed by setting servo parameter

App.3 - 7
Appendix 4 Dimension

Appendix 4 Dimension (Unit : mm)

(1) Standard main unit
-. XBM-DN16S/32S

XBM-DN16S
PWR
RUN
ERR

RS-232C

RUN

P00~07 P20~27

-. XBM-DR16S

XBM-DR16S
PWR
RUN
ERR

RS-232C

RUN

P00~07 P20~27

App. 4 １
Appendix 4 Dimension

(2) Standard main unit (“S(U)”type)

- XB(E)C-DR20/30S(U), XB(E)C-DN20/30SU, XB(E)C-DP20/30SU

- XBC-DR/DN/DP40SU: 161 x 90 x 64
- XBC-DR/DN/DP60SU: 210 x 90 x 64

App. 4 ２
Appendix 4 Dimension

(3) High-end type main unit

-. XBC-DN32H/ XE C-DN32H/ XE C-DP32H

-. XBC-DR32H/ XE C-DR32H

App. 4 ３
Appendix 4 Dimension

-. XBC-DN64H/ XE C-DN64H/ XE C-DP64H

-. XBC-DR64H/ XE C-DR64H

App. 4 ４
Appendix 4 Dimension

(4) Extended I/O module

-. XBE-DC32A, XBE-TR32A

B A
20
19
18
17
16
15
14
13
12
11
10
09
08
07
06
05
04
03
02
01

-. XBE-RY16A

App. 4 ５
Appendix 4 Dimension

-. XBE-DC08A, XBE-DC16A, XBE-TN08A, XBE-TN16A

-. XBE-DR16A, XBE-RY08A

App. 4 ６
Appendix 4 Dimension

(5) Communication module

-. XBL-C41/21A

-. XBL-EMTA

App. 4 ７
Appendix 4 Dimension

(5) Special module

-. XBF-AD04A

-. XBF-DV04A

App. 4 ８
 Warranty

1. Warranty Period
The product you purchased will be guaranteed for 18 months from the date of manufacturing.

2. Scope of Warranty
Any trouble or defect occurring for the above-mentioned period will be partially replaced or repaired. However,
please note the following cases will be excluded from the scope of warranty.

(1) Any trouble attributable to unreasonable condition, environment or handling otherwise specified in the
manual,
(2) Any trouble attributable to others’ products,
(3) If the product is modified or repaired in any other place not designated by the company,
(4) Due to unintended purposes
(5) Owing to the reasons unexpected at the level of the contemporary science and technology when delivered.
(6) Not attributable to the company; for instance, natural disasters or fire

3. Since the above warranty is limited to PLC unit only, make sure to use the product considering the safety for
system configuration or applications.

Environmental Policy

LSIS Co.,Ltd. supports and observes the environmental policy as below.

Environmental Management About Disposal

LSIS considers the environmental LSIS’ PLC unit is designed to protect the
preservation as the preferential management environment. For the disposal, separate
subject and every staff of LSIS use the aluminum, iron and synthetic resin (cover)
reasonable endeavors for the pleasurably from the product as they are reusable.
environmental preservation of the earth.
 LSIS values every single customers.
Quality and service come first at LSIS.
Always at your service, standing for our customers.

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information in this manual is subject to change without notice.
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