14DEDICATED INSTRUCTIONS

14.1 List of dedicated instructions

MELSEC-Q

The dedicated instructions explained in this Chapter are listed in Table 14.1.

Table 14.1 List of dedicated instructions

Application

Dedicated

Outline of functions

Reference

instruction

 

 

 

 

ABRST1

 

 

 

 

 

 

Absolute position restoration

ABRST2

This function restores the absolute position of the designated

Section 14.3

ABRST3

 

axis of the QD75.

 

 

ABRST4

 

 

 

PSTRT1

 

 

 

 

 

 

Positioning start

PSTRT2

This function starts the positioning control of the designated

Section 14.4

PSTRT3

axis of the QD75.

 

 

 

PSTRT4

 

 

 

TEACH1

 

 

Teaching

TEACH2

This function carries out teaching the designated axis of the

Section 14.5

TEACH3

QD75.

 

 

 

 

 

 

 

TEACH4

 

 

Writing to flash ROM

PFWRT

This function writes the buffer memory parameters,

Section 14.6

positioning data and block start data to the flash ROM.

 

 

 

Parameter initialization

PINIT

This function initializes the buffer memory and flash ROM

Section 14.7

setting data to the factory-set data (initial values).

 

 

 

 

 

 

 

14.2 Interlock during dedicated instruction is executed

The absolute position restoration instruction (ABRST), positioning start instruction (PSTRT) and teaching instruction (TEACH) cannot be executed simultaneously in each axis. If they are executed at the same time, the second and later instructions are ignored by an internal interlock (no error will occur).

The timing of the positioning start dedicated instruction (PSTRT) is as shown below.

 

ON

PSTRT instruction ON

OFF

 

ON

Interlock provided by PLC CPU

OFF

 

ON

BUSY (XC to XF)

OFF

 

ON

Positioning completed (X14 to X17)

OFF

14 - 2

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Mitsubishi Electronics QD75P, QD75D List of dedicated instructions, Interlock during dedicated instruction is executed