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XGB Built-in Positioning

Programmable Logic Controller
XGB Built-in Positioning
XGB Modular type
XBC High-end/Standard type
XEC High-end/ Standard type
XGT Series User’s Manual
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
or death if some applicable instruction is violated
This symbol indicates the possibility of severe or

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

Caution

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.
Warning

Safety Instruction
Safety Instructions when designing
 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.
Warning
Safety Instruction
Safety Instructions when designing
Safety Instructions when designing
 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.
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..
Caution
Safety Instruction
Safety Instructions when wiring
 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
Warning
 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.
Caution
Safety Instruction
Safety Instructions for test-operation or repair
 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.
Warning
 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.
Caution
Safety Instruction
Safety Instructions for waste disposal
 Product or battery waste shall be processed as industrial waste.
The waste may discharge toxic materials or explode itself.
Caution
Revision History

Version	Date	Remark	Page
V 1.0	2008.1	1. Positioning first edition according to XGB user manual separation 2. Added contents (1) IO wiring method through smart link board (2) Positioning function list (3) How to check the positioning (4) Positioning monitoring package (5) Positioning trouble shooting method 3. Modified contents (1) IO signal allocation (2) Positioning parameter setting method (3) Positioning instruction contents (4) Modifying safety precaution for safety	1-8 3-1 3-26 6-1 8-1 1-6 4-1 5-1 -
V1.1	2008.3	1. Added type and function according to developing XGB compact type basic unit (XBC-DxxxH)	-
V1.2	2009.8	1. Added type and function according to developing XGB compact type basic unit (XEC-DxxxH) (1) Description on positioning flag added (2) Description on positioning instruction added (3) Positioning program example added	-
V1.4	2011.6	1. type and function according to developing XGB compact type basic unit (XBC-DxxxS(U)) added	-
V1.5	2013.7	1. Motor Wiring Examples Added(XGT-Servo:XDL-S) 2. Modules(XB(E)C-DPxxSU) added	APP3-6, 7 1-9,10 2-2,3
V1.6	2013.12	1. PWM instruction added 2. HOME, DOG Device Modified 3. Domain Of Homepage Changed	5-47,95 3-2,3-3 Front/Back cover
V1.7	2015.07	1. Input/Output contact point list Added 2. XEC Function block list Added	Ch2, Ch8 APP2
-

※ The number of User’s manual 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://www.lsis.com/) and download the information as
a PDF file.
Relevant User’s Manuals

Title	Description	No. of User’s Manual
XG5000 user’s manual (for XGK/XGB)	It describes how to use XG5000 software about online functions such as programming, printing, monitoring and debugging when using XGB series products.	10310000512
XG5000 user’s manual (for XGI/XGR/XEC)	It describes how to use XG5000 software about online functions such as programming, printing, monitoring and debugging when using XGB (IEC language) series products	10310000834
XGK/XGKB Instructions & Programming	It is the user’s manual for programming to explain how to use instructions that are used PLC system with XGB CPU.	10310000510
XGI/XGR/XEC Instructions & Programming	It is the user’s manual for programming to explain how to use instructions that are used in XGB (IEC language) CPU	10310000833
XGB hardware	It describes power, IO, extension specification and system configuration, built-in high speed counter of XGB main unit.	10310000693
XGB hardware (IEC)	It describes power, IO, extension specification and system configuration, built-in high speed counter of XGB (IEC) main unit.	10310000983
XGB Analog user’s manual	It describes how to use the analog input, analog output, temperature input module, system configuration and built-in PID control for XGB basic unit.	10310000920
XGB Cnet I/F	It is the user’s manual about XGB Cnet I/F that describes built-in communication function and external Cnet I/F module of XGB basic unit	10310000816
XGB FEnet I/F	It describes how to use XGB FEnet I/F module.	10310000873

◎ Contents ◎

Chapter 1 General ............................................... 1-1~1-12

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 I/O Signal Allocation .......................................................................................................1-6
1.4.1 Allocation of modular type input signal...................................................................1-6
1.4.2 Allocation of modular type output signal.................................................................1-7
1.4.3 Allocation of compact type (S/H type) input signal..................................................1-8
1.4.4 Allocation of compact type (S/H type) output signal .............................................1-10
1.5 I/O wiring by using Smart Link Board ...........................................................................1-11
1.5.1 Smart link board ...............................................................................................1-11

Chapter 2 General Specification .................................... 2-1~2-10

2.1 General Specification ...................................................................................................2-1
2.2 Power Specification........................................................................................................2-2
2.2.1 Modular type(XBM-DN□□S) power specification .................................................2-2
2.2.2 Compact standard type (XB(E)C-DR/DN/DP□□S(U)) power specification ............2-2
2.2.3 Compact high-end type (XB(E)C-DR/DN/DP□□H) power specification.................2-3
2.3 I/O specification..............................................................................................................2-4
2.3.1 Input Specification..................................................................................................2-4
2.3.2 Output specification ...............................................................................................2-7
2.3.3 Output pulse level ..............................................................................................2-10

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 Sync control.........................................................................................................3-13
3.1.9 Home return.........................................................................................................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 ..............................................................5-1~5-96

5.1 Positioning Instruction List..............................................................................................5-1
5.2 Details of Positioning Instructions (In case of XBC/XBM) ...............................................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 (In case of 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.2-44

APP 2.1 Positioning instruction list ...............................................................................APP.2-1
APP 2.2 Positioning Dedicated K area List...................................................................APP.2-3
APP 2.2.1 K area of positioning basic parameter.................................................APP.2-3
APP 2.2.2 K area of positioning home parameter................................................APP.2-4
APP 2.2.3 Positioning operation data K area.......................................................APP.2-5

Appendix 3 Motor Wiring Example................................................. APP.3-1~APP.3-7

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.4-9

Chapter 1 General
1-1
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 >
Chapter 1 General
1-2
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.

Chapter 1 General
1-3
1.2Performance 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 Item	XGB Basic Unit (Transistor output )
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 output type	Pulse + Direction	Pulse + Direction CW/CCW output
Control type	Position control, speed control, speed/position switching, position/speed switching
Control unit	Pulse
Position data	30 data areas per axis (operation step no. 1 ∼ 30) * XBC-DN□□S(U) supports 80 data areas per axis	80 data areas per axis (operation step no. 1 ~ 80)
Setting method	Setting through Embedded parameter of XG5000  permanent auto-preservation
Setting through dedicated monitoring package  permanent preservation by PADT instruction
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
Back-up	Parameter, operation data  Flash memory K area RAM (super capacitor back up for S type/ battery back up for H type) (Saving them in the flash memory is available by application instruction(WRT/APM_WRT))
Position	Position method	Absolute method / Incremental method
Position address range	-2,147,483,648 ∼ 2,147,483,647(Pulse)
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	2 m

< Performance specifications >
Chapter 1 General
1-4
1.3Operation 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
XBC-DN**S V3.4 or above
XEC-DN**S: V3.7 or above
Chapter 1 General
1-5
1.3.2 Flow of position signal
Flow of position signal is as follows.
< XGB Positioning signal flow >
Chapter 1 General
1-6
1.4I/O Signal Allocation
1.4.1 Allocation of modular type input signal
In case of modular 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 modular type transistor type basic unit is as follows.

COM	COM
COM	COM
P007	P00F
P006	P00E
P005	P00D
P004	P00C
P003	P00B
P002	P00A
P001	P009
P000	P008

12/24V	COM
12/24V	COM
P027	P02F
P026	P02E
P025	P02D
P024	P02C
P023	P02B
P022	P02A
P021	P029
P020	P028

(2) Allocation of external input signal

Signal name	Input contact point no.	Detail	-
External lower limit signal (LimitL)	X axis	P0000	detected at the falling edge of input contact point.	Normally closed contact point (B contact point)
Y axis	P0002	detected at the falling edge of input contact point.
External upper limit signal (LimitH)	X axis	P0001	detected at the falling edge of input contact point.
Y axis	P0003	detected at the falling edge of input contact point.
DOG signal	X axis	P0004	When homing, detected at the rising edge	Normally open contact point (A contact point)
Y axis	P0006	When homing, detected at the rising edge
ORIGIN signal	X axis	P0005	When homing, detected at the rising edge
Y axis	P0007	When homing, detected at the rising edge
Input common	X/Y axis	COM	Input common

Input Output
Chapter 1 General
1-7
(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 modular type output signal
(1) Allocation of output signal
When using the positioning function, the output signal is allocated as shown below.

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

(2) Example of wiring external input signal
Example of wiring external output signal is as follows.
Chapter 1 General
1-8
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.
Input (P0)
Output (P4)
* based on XBC-DN30SU
* based on XBC-DN32H
Chapter 1 General
1-9
(2) Allocation of external input signal

Signal name	Input contact point no.	Operation content	Reference
Axis	XBC-DN(P) □□S(U)/H	XEC-DN(P) □□H
External lower limit (LimitL)	X axis	P0008	%IX0.0.8	Detected at the falling edge of input contact point	Normally closed contact point (B contact point)
Y axis	P000A	%IX0.0.10	Detected at the falling edge of input contact point.
External upper limit (LimitH)	X axis	P0009	%IX0.0.9	Detected at the falling edge of input contact point
Y axis	P000B	%IX0.0.11	Detected at the falling edge of input contact point
DOG signal	X axis	P000C	%IX0.0.12	When homing, detected at rising edge	Normally opened contact point (A contact point)
Y axis	P000E	%IX0.0.14	When homing, detected at rising edge
ORIGIN signal	X axis	P000D	%IX0.0.13	When homing, detected at rising edge
Y axis	P000F	%IX0.0.15	When homing, detected at rising edge
Input common	X/Y axis	COM	Input common terminal

(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 >
Chapter 1 General
1-10
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.

Signal name	Input contact point no.	Operation content	Reference
Pulse + Direction mode	CW/CCW mode
Axis	XBC- DN□□H	XBC DN(P) □□S(U)	XEC DN(P) □□S(U)/H
Pulse output (CW output)	X axis	P00020	P00040	%QX0.0.0	Positioning X axis pulse string (Open collector output)	X axis CW pulse string output (Open collector output)	Low Active and High Active is selectable in parameter setting
Y axis	P00021	P00041	%QX0.0.1	Positioning Y axis pulse string (Open collector output)	Y axis CW pulse string output (Open collector output)
Direction output (CCW output)	X axis	P00022	P00042	%QX0.0.2	X axis direction output contact point (Open collector output)	X axis CCW pulse string output (Open collector output)
Y axis	P00023	P00043	%QX0.0.3	Y axis direction output constant point (Open collector output)	Y axis CCW pulse string output (Open collector output)
External 24V	X/Y axis	P	Terminal for external power (12/24V) to implement the transistor
Input common	X/Y axis	COM0 ~ 7	Output common terminal

* 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.
Chapter 1 General
1-11
1.5I/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
Classification	Model	Model	The no. of pin	Model	Length	Content
Main unit	XBM DN32S	SLP T40P	40	SLT CT101- XBM	1m	For main unit connection (20Pin + 20Pin)
XBM- DN16S
Extension module	XBE DC32A	SLP T40P	40	SLT CT101- XBE	1m	For extension module connection (40Pin)
XBE TN32A	SLP T40P	40	SLT CT101- XBE	1m
SLP RY4A	40	SLP CT101- XBE	1m	For extension module connection (40Pin) Exclusive for relay built-in 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 voltage	600V 1min
Insulation resistor	100 ㏁ (DC500V)
Cable specification	1.25[㎟] or below
Terminal/screw	M3 X 8L
Torque	6.2 ㎏ f.㎝ or above
Terminal material	PBT, UL94V-0
Weight	186g

Chapter 1 General
1-12
(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
SLP-T40P
SLT-CT101-XBM
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.
Chapter 2 General Specification
2-1
Chapter 2 General Specification
2.1General Specification
General specification is as follows.

No.	Item	Specifications	Related standards
1	Operating temperature	0 ~ 55 °C
2	Storage temperature	-25 ~ +70 °C
3	Operating humidity	5 ~ 95%RH, no condensation
4	Storage humidity	5 ~ 95%RH, no condensation
5	Vibration immunity	If intermittent vibration exists	-
Frequency	Acceleration	Amplitude	Times	IEC61131-2
10 ≤ f < 57Hz	-	3.5mm	10 times to X, Y and Z directions, each
57 ≤ f ≤ 150Hz	9.8m/s2	-
If continuous vibration exists
Frequency	Acceleration	Amplitude
10 ≤ f < 57Hz	-	1.75mm
57 ≤ f ≤ 150Hz	4.9m/s2	-
6	Shocks	• Max. impact acceleration : 147 m/s2 • Time allowed : 11ms • Pulse waveform : half sine wave (3 times to X, Y and Z directions, each)	IEC61131-2
7	Noise immunity	Rectangular impulse noise	AC: ±1,500 V DC: ± 900 V	Test specifications of LSIS
Electrostatic discharge	Voltage : 4kV (contact discharge)	IEC61131-2 IEC61000-4-2
Radiating electronic field noise	80 ~ 1,000 ㎒, 10V/m	IEC61131-2, IEC61000-4-3
Fast transient / Burst noise	Type	Power module	Digital/Analogue Input/Output, Communication interface	IEC61131-2 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.

Chapter 2 General Specification
2-2
2.2Power Specification
Power specification of XGB series main unit is as follows.
2.2.1 Modular type(XBM-DN□□S) power specification

Item	Specification
Input	Rated input voltage	DC24V
Input voltage range	DC20.4~28.8V(-15%, +20%)
Inrush current	70APeak or below
Input current	Max. 1A (Typ. 550 ㎃)
Efficiency	60% or above
Allowed temporary cutoff	1 ㎳ or below
Output	Output voltage	DC5V (±2%)
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

Item	Specification
XB(E)C DR(N)(P)20S(U) /DR(N)(P)30S(U)	XB(E)C DR/DN/DP40SU	XB(E)C DR/DN/DP60SU
Input	Rated input voltage	AC 100 ~ 240 V
Input voltage range	AC85~264V(-15%, +10%)
Inrush current	50APeak or below
Input current	0.5A or below (220V), 1A or below (110V)
Efficiency	65% or above
Allowed temporary cutoff	10 ㎳ or below
Output	Output voltage	DC5V	1.5A	2A	2.5A
DC24V	0.3A	0.3A	0.5A
Output voltage ripple	DC5V	DC 4.9 ~ 5.1V (±2%)	DC 4.9 ~ 5.15V (-2%, +3%)
DC24V	DC21.6~26.4 V(±10%)
Voltage status display	When power is normal, PWR LED On
Cable specification	0.75 ~ 2 mm2

* For protection of power supply, use power supplier which has maximum 4A fuse.
Chapter 2 General Specification
2-3
2.2.3 Compact high-end type (XB(E)C-DR/DN/DP□□H) power specification

Item	Specification
XBC- /DR32H /DN32H	XEC DR32H /DN32H /DP32H	XBC DR64H /DN64H	XEC DR64H /DN64H /DP64H
Input	Rated input voltage	AC 100 ~ 240 V
Input voltage range	AC85~264V(-15%, +10%)
Inrush current	50APeak or less
Input current	0.5A or less (220V), 1A or less (110V)
Efficiency	65% or above
Allowed temporary cutoff	10 ㎳ or less (Checking is necessary)
Output	Rated output	DC5V	2A	3A
DC24V	0.4A	0.6A
Output voltage ripple	DC5V	DC 4.9 ~ 5.15V (-2%, +3%)
DC24V	DC21.6~26.4 V(±10%)
Voltage status display	In case output voltage is normal, LED On
Cable specification	0.75 ~ 2 mm2 (Checking is necessary)

* For protection of power supply, use power supplier which has maximum 4A fuse.
Chapter 2 General Specification
2-4
2.3I/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) Modular type input contact point specification

Contac t point no.	X axis	P0000	P0001	P0004	P0005	Ref.
Y axis	P0002	P0003	P0006	P0007
Signal name	External lower limit	External upper limit	DOG	HOME
Rated input voltage	DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
Rated input current	about 7 ㎃/24V	About 4 ㎃/24V
Insulation method	Photo coupler insulation
Input impedance	About 3.3 ㏀	About 5.6 ㏀
On voltage/current	DC 19V or above/5.7 ㎃ or above	DC 19V or above /3.4 ㎃ or above
Off voltage/current	DC 6V or less/1.8 ㎃ or less	DC 6V or less/1.1 ㎃ or less
Response time	0.5 ㎳ or less (When used for positioning)
Min. input width	100 ㎲ or above
Circuit configuration and connector array	Pin	Contact point	Pin	Contact point	B10 B1 A10 A1
B10	P00	A10	P08
B09	P01	A09	P09
B08	P02	A08	P0A
B07	P03	A07	P0B
B06	P04	A06	P0C
B05	P05	A05	P0D
B04	P06	A04	P0E
B03	P07	A03	P0F
B02	COM	A02	COM
B01	A01

Chapter 2 General Specification
2-5
(2) Compact standard type input contact point specification

Contact point no.	X axis	P0008 %IX0.0.8	P0009 %IX0.0.9	P000C %IX0.0.12	P000D %IX0.0.13	Ref.
Y axis	P000A %IX0.0.10	P000B %IX0.0.11	P000E %IX0.0.14	P000F %IX0.0.15
Signal name	External lower limit	External upper limit	DOG	HOME
Rated input voltage	DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
Rated input current	About 4 ㎃/24V
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
Circuit configuration and terminal array	No.	Contact	No.	Contact
TB1	RX
TB2	485+
TB3	TX
TB4	485-
TB5	SG
TB6	P00 IX0.0.0
TB7	P01 IX0.0.1
TB8	P02 IX0.0.2
TB9	P03 IX0.0.3
TB10	P04 IX0.0.4
TB11	P05 IX0.0.5
TB12	P06 IX0.0.6
TB13	P07 IX0.0.7
TB14	P08 IX0.0.8
TB15	P09 IX0.0.9
TB16	P0A IX0.0.10
TB17	P0B IX0.0.11
TB18	P0C IX0.0.12
TB19	P0D IX0.0.13
TB20	P0E IX0.0.14
TB21	P0F IX0.0.15
TB22	P10 IX0.0.16
TB23	P11 IX0.0.17
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.
TB1
TB24
TB23
TB22
TB21
TB20
TB19
TB18
TB17
TB16
TB15
TB14
TB13
TB12
TB11
TB10
TB9
TB8
TB7
TB6
TB5
TB4
TB3
TB2

Chapter 2 General Specification
2-6
(3) Compact high end type input contact point specification

Contact point no.	X axis	P0008 %IX0.0.8	P0009 %IX0.0.9	P000C %IX0.0.12	P000D %IX0.0.13	Ref.
Y axis	P000A %IX0.0.10	P000B %IX0.0.11	P000E %IX0.0.14	P000F %IX0.0.15
Signal name	External lower limit	External upper limit	DOG	HOME
Rated input voltage	DC24V (DC20.4~28.8V (-15/20%, ripple rate 5% or less))
Rated input current	About 4 ㎃/24V
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
Circuit configuration and terminal array	No.	Contact	No.	Contact
TB1	RX
TB2	485+
TB3	TX
TB4	485-
TB5	SG
TB6	P00 IX0.0.0
TB7	P01 IX0.0.1
TB8	P02 IX0.0.2
TB9	P03 IX0.0.3
TB10	P04 IX0.0.4
TB11	P05 IX0.0.5
TB12	P06 IX0.0.6
TB13	P07 IX0.0.7
TB14	P08 IX0.0.8
TB15	P09 IX0.0.9
TB16	P0A IX0.0.10
TB17	P0B IX0.0.11
TB18	P0C IX0.0.12
TB19	P0D IX0.0.13
TB20	P0E IX0.0.14
TB21	P0F IX0.0.15
TB22	COM
TB23	24G
TB24	24V

TB1
TB24
TB23
TB22
TB21
TB20
TB19
TB18
TB17
TB16
TB15
TB14
TB13
TB12
TB11
TB10
TB9
TB8
TB7
TB6
TB5
TB4
TB3
TB2

Chapter 2 General Specification
2-7
2.3.2 Output specification
(1) Modular type output contact point specification

Conta ct no.	X axis	P0020	P0022	Ref.
Y axis	P0021	P0023
Signal name	Pulse string output	Direction output
Rated load voltage	DC5~24V (DC4.75~26.4V)
Max. load current	0.1A/1 point or below
Insulation method	Photo-coupler insulation
Inrush current	1A/10 ㎳ or below
Voltage drop when On	DC 0.3V or below
Leakage current when Off	0.1 ㎃ or below
Response time	0.1 ㎳ or below (Rated load, resistor load)
Circuit configuration and connector array (standard type)	No.	Contact	No.	Cont act
B10	P20	A10	P28
B09	P21	A09	P29
B08	P22	A08	P2A
B07	P23	A07	P2B
B06	P24	A06	P2C
B05	P25	A05	P2D
B04	P26	A04	P2E
B03	P27	A03	P2F
B02	12/24V	A02	CO M
B01	A01

B10
B1
A10
A1

Chapter 2 General Specification
2-8
(2) Compact standard type output contact point specification

Conta ct no.	X axis	P00040 %QX0.0.0	P00042 %QX0.0.2	Ref.
Y axis	P00041 %QX0.0.1	P00043 %QX0.0.3
Signal name	Pulse string output	Direction output
Rated load voltage	DC5~24V (DC4.75~26.4V)
Maximum load current	0.1A/1or less
Insulation method	Photo coupler insulation
Inrush current	1A/10 ㎳ or less
Voltage drop when On	DC 0.3V or less
Leakage current when Off	0.1 ㎃ or less
Response time	0.1 ㎳ or less (rated load, resistive load)
Circuit configuration and terminal array	No.	Contact	No.	Contact
TB1	AC100 ~240V
TB2	PE
TB3
TB4	COM0
TB5	P40 QX0.0.0
TB6	COM 1
TB7	P41 QX0.0.1
TB8	COM 2
TB9	P42 QX0.0.2
TB10	P43 QX0.0.3
TB11	P
TB12	COM 3
TB13	P44 QX0.0.4
TB14	P45 QX0.0.5
TB15	P46 QX0.0.6
TB16	P47 QX0.0.7
TB17	NC
TB18	COM 4
TB19	P48 QX0.0.8
TB20	P49 QX0.0.9
TB21	P4A QX0.0.10
TB22	P4B QX0.0.11
TB23	24V
TB24	24G

TB1
TB24
TB23
TB22
TB21
TB20
TB19
TB18
TB17
TB16
TB15
TB14
TB13
TB12
TB11
TB10
TB9
TB8
TB7
TB6
TB5
TB4
TB3
TB2

Chapter 2 General Specification
2-9
(3) Compact high-end type output contact point specification

Cont act no.	X axis	P00020 %QX0.0.0	P00022 %QX0.0.2	Ref.
Y axis	P00021 %QX0.0.1	P00023 %QX0.0.3
Signal name	Pulse string output / CW output	Direction output / CCW output
Rated load voltage	DC5~24V (DC4.75~26.4V)
Maximum load current	0.1A/1or less
Insulation method	Photo coupler insulation
Inrush current	1A/10 ㎳ or less
Voltage drop when On	DC 0.3V or less
Leakage current when Off	0.1 ㎃ or less
Response time	0.1 ㎳ or les (rated load, resistive load)
Circuit configuration and terminal array	No.	Contact	No.	Contact
TB1	AC100 ~240V
TB2	PE
TB3
TB4	P
TB5	P20 QX0.0.0
TB6	P21 QX0.0.1
TB7	P22 QX0.0.2
TB8	P23 QX0.0.3
TB9	COM0
TB10	P24 QX0.0.4
TB11	P25 QX0.0.5
TB12	P26 QX0.0.6
TB13	P27 QX0.0.7
TB14	COM1
TB15	P28 QX0.0.8
TB16	P29 QX0.0.9
TB17	P2A QX0.0.10
TB18	P2B QX0.0.11
TB19	COM2
TB20	P2C QX0.0.12
TB21	P2D QX0.0.13
TB22	P2E QX0.0.14
TB23	P2F QX0.0.15
TB24	COM3

TB1
TB24
TB23
TB22
TB21
TB20
TB19
TB18
TB17
TB16
TB15
TB14
TB13
TB12
TB11
TB10
TB9
TB8
TB7
TB6
TB5
TB4
TB3
TB2

Chapter 2 General Specification
2-10
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
Chapter 3 Before positioning
3- 1
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 function	Operation description	Instruction	Ref.
Position control	Operation pattern	DST IST APM_DST APM_IST	Ch.5.2.3 Ch.5.2.4 Ch.5.3.4 Ch.5.3.5
Operation	If the rising edge of start command is detected, it moves with designated speed to designated position and after dwell time, complete signal is on during one scan.
Speed control	Operation pattern	DST IST APM_DST APM_IST	Ch.5.2.3 Ch.5.2.4 Ch.5.3.4 Ch.5.3.5
Operation	If the rising edge of start command is detected, it moves with designated speed and stops after deceleration by stop command. At this time, complete signal will not be not on.
speed/position switching control	Operation pattern	VTP APM_VTP	Ch.5.2.7 Ch.5.3.8
Operation	Speed control is executed by start command and it is switched to position control by switching signal and it moves to designated position.

Switching
signal

Chapter 3 Before positioning
3- 2

Positioning function	Operation description	Instruction	Ref.
Position/speed switching control	Operation pattern	PTV APM_PTV	Ch.5.2.8 Ch.5.3.9
Operation	Position control is executed by start command and it is switched to speed control by switching signal and stops after deceleration by stop command .
Linear interpolation control	Operation pattern	LIN APM_LIN	Ch.5.2.5 Ch.5.3.6
Operation	2 axes linear interpolation control is executed by start command from current position to target position.
Simultaneous start	Operation pattern	SST APM_SST	Ch.5.2.6 Ch.5.3.7
Operation	X axis and Y axis starts simultaneously by start command. At this time, each operation data such as operation speed, target position is applied to each axis.
Sync start	Operation pattern	SSP SSS APM_SSP APM_SSSB	Ch.5.2.10 Ch.5.2.11 Ch.5.3.11 Ch.5.3.12
Operation	If sync start is executed by command, subsidiary axis is synchronized with main axis’ position or speed. At this time, setting of subsidiary axis is ignored and operates according to the operating status of main axis

Chapter 3 Before positioning
3- 3

Positioning function	Operation description	Instru ction	Ref.
Home return	Operation pattern	ORG APM_ ORG	Ch.5.2.1 Ch.5.3.2
Operation	It goes to home direction and detects the mechanical origin At this time, home method can be specified by operation parameter.
Position override	Operation pattern	POR APM_ POR	Ch.5.2.12 Ch.5.3.13
Operation	It changes the target position by position override command.
Speed override	Operation pattern	SOR APM_ SOR	Ch.5.2.13 CH.5.3.1 4
Operation	It changes the speed by speed override command.
Speed override with position	Operation pattern	PSO APM_ PSO	Ch.5.2.14 Ch.5.3.15
Operation	It changes the speed at the designated position by speed override with position command.

Chapter 3 Before positioning
3- 4
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 no.	Coord.	Pattern	Control	Method	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
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.

Chapter 3 Before positioning
3- 5
(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 no.	Coord.	Pattern	Control	Method	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
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.
Chapter 3 Before positioning
3- 6
• In case of speed control, some items as figure below doesn’t affect the operation.
- 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 no.	Coord .	Pattern	Contr ol	Metho d	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
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 >
These items don’t affect the operation in case of speed
Chapter 3 Before positioning
3- 7
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.
- 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 no.	Coord .	Pattern	Contr ol	Metho d	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
1	INC	END	SPD	SIN	0	1000	11	1	500	100

<Table 3-4 operation data example of speed/position switching control>
< Figure 3-4 Operation of speed/position switching control >
These items don’t affect the operation in case of speed
These items don’t affect the operation when changed into position
switching
occurrence flag
Chapter 3 Before positioning
3- 8
• 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.
- 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 no.	Coord .	Pattern	Contr ol	Metho d	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
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.
These items don’t affect the operation in case of position/speed switching
Chapter 3 Before positioning
3- 9
<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 simultaneously, 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.
Switching signal
Chapter 3 Before positioning
3- 10
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 no.	Coord.	Pattern	Control	Method	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]	Step no.
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.
Chapter 3 Before positioning
3- 11
< 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 no.	Coord.	Pattern	Control	Metho d	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]	Step no.
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 >
Chapter 3 Before positioning
3- 12
• 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 Simultaneous start control
• It starts each step for each axis simultaneously by simultaneous 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.
Chapter 3 Before positioning
3- 13
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)
• 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 position
Start Position
sync
Start main axis
Sync
speed
Start sync
control
Start main
axis
Chapter 3 Before positioning
3- 14
• 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 parameter	Home Method	Setting home method
Home Direction	Start direction when homing
Home Address	Origin address when detecting origin
Home High/Low speed	High/Low speed when homing
Homing ACC/DEC Time	ACC/DEC time when homing
DWELL time	Time required to remove offset pulse of 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 (0: DOG/HOME(OFF))	DOG, Origin	Content of () is displayed in the Home Parameter of XG5000.
Origin detection after DEC. when DOG on (1: DOG/HOME(On))	DOG, Origin
Origin detection by DOG (2: DOG)	DOG

Chapter 3 Before positioning
3- 15
(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”.

Chapter 3 Before positioning
3- 16

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.

Chapter 3 Before positioning
3- 17
(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.

Chapter 3 Before positioning
3- 18
(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.
Chapter 3 Before positioning
3- 19
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 no.	Coord.	Pattern	Contr ol	Metho d	Rep step	Address [Pulse]	M Code	A/D No.	Speed [pls/s]	Dwell [㎳]
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 ∼ 7,483,647 Pulse 2,14 .
Chapter 3 Before positioning
3- 20
(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.
Chapter 3 Before positioning
3- 21
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
simultaneous 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.

Operation status Stop factor	Positioning *1	Home *2	Jog operation	Axis operation status after stop instruction *3	M code ”On” Signal status
Stop by parameter setting *4	Excess of soft upper limit	Immediate stop	Not detected	Immediate stop	Error status (Error 501)	No change
Excess of soft lower limit	Immediate stop	Not detected	Immediate stop	Error status (Error 502)	No change
Stop by sequence program *5	Dec. stop instruction	Dec. stop	Dec. stop	Error 322 (keep running)	Decelerating	No change
Emergency stop instruction	Immediate stop	Error status (Error 481) No output	Off
Stop by external signal	External upper limit “On”	Immediate stop	Forward immediate stop	Error status (Error 492)*6	No change
External lower limit “On”	Immediate stop	Backward immediate stop	Error status (Error 493)*6	No change
Stop by monitoring package	Dec. stop instruction	Immediate stop	Immediate stop	Error 322 (keep running)	Stopping	No change

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.

Chapter 3 Before positioning
3- 22
(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, simultaneous 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
Chapter 3 Before positioning
3- 23
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.

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

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

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.
Chapter 3 Before positioning
3- 24
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.

Chapter 3 Before positioning
3- 25
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.
Chapter 3 Before positioning
3- 26
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 >
Chapter 3 Before positioning
3- 27
(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
Basic parameters	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
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 amount	Set compensation amount of tolerance in which a machine is not operated due to wear when rotation direction is changed.
S/W upper/lower limits during constant speed operation	Set whether to detect or not S/W upper/lower limits during constant speed operation
Use upper/lower limits	Use or not
Origin/Manual parameters	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 time	Set accelerating time for home return
Home Return decelerating time	Set decelerating time for home return
Dwell time	Set a time required to remove remaining bias counter immediately after 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 >
Chapter 3 Before positioning
3- 28
(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]
M Code	In case of using M code, number indicated when M code occurred (In case of setting as 0, M code function is not used)	0
A/D No.	Setting A/D no. of each step	No.1
Speed	Operation speed of each step	0[pps]
Dwell	After ending step, time necessary to remove remaining pulse of offset counter	0[㎳]

Chapter 3 Before positioning
3- 29
(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.

Chapter 3 Before positioning
3- 30
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.

Chapter 3 Before positioning
3- 31
3.2.3 Setting basic positioning parameters
It describes the range of setting basic parameters and special K area for positioning.

Item	Range	Initial value	K area for positioning	Data size
X-axis	Y-axis
XBM/XBC	XBM/XBC
XEC	XEC
Positioning	0: No use, 1 : use	0	K4870 %KX7792	K5270 %KX8432	Bit
Pulse output level	0 : Low Active, 1 : High Active	0	%KX7793 K4871	%KX8433 K5271	Bit
Pulse output mode	0 : CW/CCW 1 : PLS/DIR	0	%KX7795 K4873	%KX8435 K5273	Bit
M code output mode	0 : NONE, 1 : WITH 2 : AFTER	0	%KX7489 K4681-2-90	%KX81 K5081 29-2-30	Bit
Bias speed	1 ∼	1	K450 %KD225	K490 %KD245	Double word
Speed limit	1 ∼	100,000	K452 %KD226	K492 %KD246	Double word
ACC time 1	0 ~ 10,000[unit: ms]	500	K454 %KW454	K494 %KW494	word
DEC time 1	0 ~ 10,000[unit: ms]	500	K455 %KW455	K495 %KW495	word
ACC time 2	0 ~ 10,000[unit: ms]	1,000	K456 %KW456	K496 %KW496	word
DEC time 2	0 ~ 10,000[unit: ms]	1,000	K457 %KW457	K497 %KW497	word
ACC time 3	0 ~ 10,000[unit: ms]	1,500	K458 %KW458	K498 %KW498	word
DEC time 3	0 ~ 10,000[unit: ms]	1,500	K459 %KW459	K499 %KW499	word
ACC time 4	0 ~ 10,000[unit: ms]	2,000	K460 %KW460	K500 %KW500	word
DEC time 4	0 ~ 10,000[unit: ms]	2,000	K461 %KW461	K501 %KW501	word
S/W upper limit	-2,147,483,648 ∼ 2,147,483,647 [pulse]	2,147,483,647	%KD231 K462	%KD251 K502	Double word
S/W lower limit	-2,147,483,648 ∼ 2,147,483,647 [pulse]	-2,147,483,648	%KD232 K464	%KD252 K504	Double word
Backlash Compensation	0 ∼ 65,535	0	%KW466 K466	%KW506 K506	word
S/W Limit Detect	0 : No detect1 : detect	0	K4684 %KX7492	K5084 %KX8132	Bit
Upper/lower limits	0: no use, 1: use	1	%KX7794 K4872	%KX8434 K5272	Bit

Chapter 3 Before positioning
3- 32
(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.
Chapter 3 Before positioning
3- 33
•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.
Chapter 3 Before positioning
3- 34
< 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
Chapter 3 Before positioning
3- 35
(c) Bias speed ≤ JOG high speed
 (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.
Chapter 3 Before positioning
3- 36
• 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 ∼(unit 2,147,483,647 : Pulse)
- S/W lower limit address value range: -2,147,483,648 ∼(unit 2,147,483,647 : 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.)
Chapter 3 Before positioning
3- 37
• 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 step	Backlash setting amount	Target address	Direction conversion	Real output pulse	Stop positio
1	500	10,000	X	10,000	10,000
2	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.
Chapter 3 Before positioning
3- 38
• 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 name	Input contact point number	Operation content	Reference
Standard	High end
External low limit signal (LimitL)	X axis	P0000	P0008	Detects the X axis external lower limit at the rising edge of input contact point	Acts as normally closed contact point (B contact point)
Y axis	P0002	P000A	Detects the Y axis external lower limit at the rising edge of input contact point.
External upper limit signal (LimitH)	X axis	P0001	P0009	Detects the X axis external upper limit at the rising edge of input contact point.
Y axis	P0003	P0008	Detects the Y axis external upper limit 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.

Item	Setting range	Initial value	Dedicated K area	Data size
X axis XBM/XBC XEC	Y axis XBM/XBC XEC
Home Return method	0 : origin detection after DOG off 1 : origin detection after deceleration when DOG is On 2 : origin detection by DOG	0	K4780-81 %KX7648-49	K5180-81 %KX8288-89	2 Bit
Home Return direction	0 : forward, 1 : backward	1	%KX7650 K4782	%KX8290 K5182	Bit
Origin address	-2,147,483,648 ∼2,14	0	K469 %KD234	K509 %KD254	Double word
Home Return high speed	1 ∼ s] 100,000[pulse/	5,000	%KD235 K471	%KD255 K511	Double word
Home Return low speed	1 ∼ s] 100,000[pulse/	500	%KD236 K473	%KD256 K513	Double word
Home Return ACC time	0 ~ 10,000[unit: ms]	1,000	%KW475 K475	%KW515 K515	Word
Home Return DEC time	0 ~ 10,000[unit: ms]	1,000	%KW476 K476	%KW516 K516	Word
Dwell time	0 ~ 50,000[unit: ms]	0	K477 %KW477	K517 %KW517	Word
Jog high speed	1 ∼ s] 100,000[pulse/	5,000	K479 %KD239	K519 %KD259	Double word
Jog low speed	1 ∼ s] 100,000[pulse/	1,000	K481 %KD240	K521 %KD260	Double word
Jog ACC time	0 ~ 10,000[unit: ms]	1,000	K483 %KW483	K523 %KW523	Word
Jog DEC time	0 ~ 10,000[unit :ms]	1,000	K484 %KW484	K524 %KW524	Word
Inching speed	1 ∼ s] 65,535[pulse/	100	K485 %KW485	K525 %KW525	Word

Chapter 3 Before positioning
3- 39
(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 value	Home Return direction	Pulse output operation of XGB positioning module
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 ∼(unit 2,147,483,647 : 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’.
• The range of home return dwell time is between 0 ∼ 50,000 (unit: 1 ㎳)
Chapter 3 Before positioning
3- 40
(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.
Chapter 3 Before positioning
3- 41
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.

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

Chapter 3 Before positioning
3- 42
(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
POS	SIN	END
KEEP
CONT	Linear interpolation is not available
REP	END
KEEP
CONT	Linear interpolation is not available
SPD	SIN	END	Linear interpolation is not available
KEEP	Linear interpolation is not available
CONT	Not available
REP	END	Linear interpolation is not available
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.
Chapter 3 Before positioning
3- 43
(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.
Chapter 3 Before positioning
3- 44
• It assumes that operation data is as follows to describe END/SIN operation.

Step no.	Coord .	Pattern	Contr ol	Metho d	REP Step	Address [Pulse]	M code	A/D No.	Speed [pls/s]	Dwell [㎳]
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 No.	Coord .	Pattern	Contr ol	Metho d	REP Step	Address [Pulse]	M code	A/D No.	Speed [pls/s]	Dwell [㎳]
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.
Chapter 3 Before positioning
3- 45

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.

Step No.	Coordina tes	Operation pattern	Control	Operation mode	Repeatin g step	Target position [Pulse]	M code	Acc./Dec. No.	Speed [pls/s]	Dwell time [㎳]
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.
Chapter 3 Before positioning
3- 46
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.

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

Chapter 3 Before positioning
3- 47
(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.
Chapter 3 Before positioning
3- 48

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.
Chapter 3 Before positioning
3- 49
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

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

Chapter 3 Before positioning
3- 50

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

(a) XEC bit area flag

Variables	Device area	Status
Axis X	Axis Y
Address	Address
In operation	%KX6720	%KX6880	0: stop, 1: operation
Error	%KX6721	%KX6881	0: no error, 1: error
Positioning completed	%KX6722	%KX6882	0: not completed, 1: 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
Stopped	%KX6726	%KX6886	0: not stopped 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 rotation	%KX6731	%KX6891	0: normal direction, 1: direction backward
Operation (acceleration)	%KX6732	%KX6892	0: not accelerated, 1: accelerated
Operation (constant speed)	%KX6733	%KX6893	0: not constant speed, 1: constant speed
Operation (deceleration)	%KX6734	%KX6894	0: not decelerated, 1: decelerated
Operation (dwell)	%KX6735	%KX6895	0: not during dwell, 1: during dwell
Operation (positioning)	%KX6736	%KX6896	0: position not controlled 1: position controlled
Operation (speed control)	%KX6737	%KX6897	0: speed not controlled 1: speed controlled
Operation control (straight interpolation)	%KX6738	%KX6898	0: interpolation not controlled 1: interpolation controlled
Return to origin	%KX6741	%KX6901	0: not returning to origin 1: returning to origin
Position synchronization	%KX6742	%KX6902	0: position not synchronized 1: position synchronized
Speed synchronization	%KX6743	%KX6903	0: speed not synchronized 1: speed synchronized
Jog low speed	%KX6744	%KX6904	0: jog not at low speed 1: jog at low speed
Jog high speed	%KX6745	%KX6905	0: jog not at high speed 1: jog at high speed
Inching operation	%KX6746	%KX6906	0:not during inching operation 1: during inching operation

Chapter 3 Before positioning
3- 51
(2) Status Monitoring Data Area
(a) XBM/XBC status monitoring area

Variables	Device Area	Status
Axis X	Axis X
Address	Properties	Address	Properties
Current position	K422	Double word	K432	Double word	Shows current position
Current speed	K424	Double word	K434	Double word	Shows current speed
Step No.	K426	Double word	K436	Word	Shows current operation step
Error code	K427	Word	K437	Word	Shows error code in case of an error
M code No.	K428	Word	K438	Word	Shows M code number when M code is on

(b) XBM/XBC status monitoring area

Variables	Device Area	Status
Axis X	Axis Y
Address	Properties	Address	Properties
Current position	%KD211	Double word	%KD216	Double word	Shows current position
Current speed	%KD212	Double word	%KD217	Double word	Shows current speed
Step No.	%KW426	Double word	%KW436	Word	Shows current operation step
Error code	%KW427	Word	%KW437	Word	Shows error code in case of an error
M code No.	%KW428	Word	%KW438	Word	Shows M code number when M code is 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

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

Chapter 3 Before positioning
3- 52

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

(b) XEC bit area flag

Variables	Device area	Status
Axis X	Axis Y
Address	Addreess
Start signal	%KX6864	%KX7024	Indirect start at rising edge
Normal direction jog	%KX6865	%KX7025	0: stop jog, 1: normal direction jog operation
Backward direction jog	%KX6866	%KX7026	0: stop jog,, 1: normal direction jog operation
Jog high/low speed	%KX6867	%KX7027	0: jog low speed, 1: jog high speed
M code output mode	%KX7489	%KX8129	0: NONE, 1: WITH, 2: AFTER
%KX7490	%KX8130
Upper/lower limit detection of S/W allowed during constant speed operation	%KX7492	%KX8132	0: detection not allowed, 1: detection allowed
Return-to-origin method	%KX7648-49	%KX8288-89	0: approximate origin/origin(OFF) 1: approximate origin/origin (On) 2: approximate origin
Return-to-origin direction	%KX7650	%KX8290	0: normal direction, 1: direction backward
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 limit	%KX7794	%KX8434	0: no use, 1: use
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
Chapter 3 Before positioning
3- 53
the external input starting switch (P000F) turns On.

Device	Description	Device	Description
P000F(%IX0.0.15)	Axis X starting external switch	K4201(%KX6721)	Axis X error
K4200(%KX6720)	Axis X signal during operation	K4290(%KX6864)	Axis X starting instruction 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.
Chapter 3 Before positioning
3- 54
(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
P0008(%IX0.0.8)	External input of normal direction jog	K4201(%KX6721)	Flag displaying axis X error
P0009(%IX0.0.9)	External input of backward direction jog	K4291(%KX6865)	Flag commanding normal direction jog of axis X
P000A(%IX0.0.10)	External input of jog low speed/high speed	K4292(%KX6866)	Flag commanding backward direction jog of axis X
K4200(%KX6720)	Signal of axis X during operation	K4293(%KX6867)	Flag commanding jog 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.

Chapter 3 Before positioning
3- 55
(2) Data Area for Positioning Setting
(a) In case of XBM/XBC

Variables	Device Area	Status
Axis X	Axis Y
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 software	K0462	Double word	K0502	Double word	Sets upper limit value of software.
Lower limit of software	K0464	Double word	K0504	Double word	Sets lower limit value of software.
Backlash correction	K0466	Word	K0506	Word	Sets backlash correction value.
Origin address	K0469	Double word	K0509	Double word	Sets origin address for origin return.
High speed of origin return	K0471	Double word	K0511	Double word	Sets high speed for origin return.
Low speed of origin return	K0473	Double word	K0513	Double word	Sets low speed for origin return.
Acceleration time for origin return	K0475	Word	K0515	Word	Sets acceleration time for origin return
Deceleration time for origin return	K0476	Word	K0516	Word	Sets deceleration time for origin return
Dwell time for origin return	K0477	Word	K0517	Word	Sets dwell time for origin return
Jog high speed	K0479	Double word	K0519	Double word	Sets high speed for jog operation.
Jog low speed	K0481	Double word	K0521	Double word	Sets low speed for jog operation
Jog acceleration time	K0483	Word	K0523	Word	Sets acceleration time for jog operation
Jog deceleration time	K0484	Word	K0524	Word	Sets deceleration time for jog operation
Inching speed	K0485	Word	K0525	Word	Sets operation speed for inching operation.

Chapter 3 Before positioning
3- 56
(b) In case of XEC

Variables	Device area	Status
Axis X	Axis Y
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 software	%KD231	Double word	%KD251	Double word	Sets upper limit value of software.
Lower limit of software	%KD232	Double word	%KD252	Double word	Sets lower limit value of software.
Backlash correction	%KW466	Word	%KW506	Word	Sets backlash correction value.
Origin address	%KD234	Double word	%KD254	Double word	Sets origin address for origin return.
High speed of origin return	%KD235	Double word	%KD255	Double word	Sets high speed for origin return.
Low speed of origin return	%KD236	Double word	%KD256	Double word	Sets low speed for origin return.
Acceleration time for origin return	%KW475	Word	%KW515	Word	Sets acceleration time for origin return
Deceleration time for origin return	%KW476	Word	%KW516	Word	Sets deceleration time for origin return
Dwell time for origin return	%KW477	Word	%KW517	Word	Sets dwell time for origin return
Jog high speed	%KD239	Double word	%KD259	Double word	Sets high speed for jog operation.
Jog low speed	%KD240	Double word	%KD260	Double word	Sets low speed for jog operation
Jog acceleration time	%KW483	Word	%KW523	Word	Sets acceleration time for jog operation
Jog deceleration time	%KW484	Word	%KW524	Word	Sets deceleration time for jog operation
Inching speed	%KW485	Word	%KW525	Word	Sets operation speed for inching operation.

Chapter 3 Before positioning
3- 57
(3) Status Monitoring and Commanding Flag by Operation Step
(a) In case of XBM/XBC (Step 01)

Variables	Device area	Status
Axis X	Axis Y	properties
Address	Address
Step 01 target position	K0530	K0830	Double word
Step 01 operation speed	K0534	K0834	Double 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 (Low)	K05382	K08382	Bit
Step 01 operation pattern (High)	K05383	K08383	Bit
Step 01 coordinates	K05384	K08384	Bit
Step 01 acc./dec. number (Low)	K05386	K08386	Bit
Step 01 acc./dec. number (High)	K05387	K08387	Bit
Step 01 coordinates	K0539	K0839	Word

Chapter 3 Before positioning
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(b) In case of XBM/XBC (Step 01)

Variables	Device area	Status
Axis X	Axis Y	properties
Address	Address
Step 01 target position	%KD265	%KD415	Double word
Step 01 operation speed	%KD267	%KD417	Double 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 (Low)	%KX8610	%KX13410	Bit
Step 01 operation pattern (High)	%KX8611	%KX13411	Bit
Step 01 coordinates	%KX8612	%KX13412	Bit
Step 01 acc./dec. number (Low)	%KX8614	%KX13414	Bit
Step 01 acc./dec. number (High)	%KX8615	%KX13415	Bit
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.

Chapter 4 Positioning Check
4- 1
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.

Input Signal	Contact Point Type	Contact Point No.	Remark
XBC	XEC
Jog normal direction switch	Contact point normally open (A)	Axis X	P0010	%IX0.0.16	Contact point randomly selected
Axis Y	P0011	%IX0.0.17	Contact point randomly selected
Jog reverse direction switch	Axis X	P0012	%IX0.0.18	Contact point randomly selected
Axis Y	P0013	%IX0.0.19	Contact point 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.

Input Signal	Contact No.	Operation Check
XBC	XEC
Jog normal direction	Axis X	P0010	%IX0.0.16	• Check whether the LED of the contact point turns on while the switch is ON and the value of the contact point changes into 1 in the device monitor of XG5000.
Axis Y	P0011	%IX0.0.17
Jog reverse direction	Axis X	P0012	%IX0.0.18
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
Chapter 4 Positioning Check
4- 2
the input hardware, so contact the customer center.
(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.
Chapter 4 Positioning Check
4- 3
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 operation	0 : not detected, 1 : detected	0	Bit
Use of upper and lower limit	0 : not used, 1 : used	1	Bit

(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 time	0 ~ 10,000[unit: ms]	1,000	Word
Home return deceleration time	0 ~ 10,000[unit: ms]	1,000	Word
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

Chapter 4 Positioning Check
4- 4
(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
Chapter 5 Positioning Instructions
5 -1
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 List
The positioning instructions used for XGB positioning are as follows.
(1) In case of XBC/XBM

Instructions	Description	Conditions	Remark
ORG	Start return to the origin	Slot, instruction axis	5.2.1
FLT	Set floating origin	Slot, instruction axis	5.2.2
DST	Direct starting	Slot, instruction axis, position, speed, dwell time, M code, control word	5.2.3
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
SST	Simultaneous starting	Slot, instruction axis, axis X step, axis Y step, axis Z step, axis information	5.2.6
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
SSP	Position synchronization	Slot, instruction axis, step number, main axis position, main axis setting	5.2.10
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. (PWM insturction is activated at the “On” level)

Chapter 5 Positioning Instructions
5 -2
(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
APM_DST	Direct starting	Req, Base, Slot, Axis, Position, speed, dwell time, M code, position/speed, absolute/incremental, ACC/DEC time	5.3.4
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
APM_SST	Simultaneous starting	Req, Base, Slot, Axis, X axis step, Y axis step, Z axis step	5.3.7
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
APM_SSP	Position synchronization	Req, Base, Slot, Axis, Step number, main axis, Main axis position	5.3.11
APM_SSSB	Speed synchronization	Req, Base, Slot, Axis, main axis, rate of sub-axis, delay time	5.3.12
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
APM_RST	Reset error, cancel output inhibition	Req, Base, Slot, Axis, Enable/Disable pulse output	5.3.21
APM_WRT	Req, Base, Slot, Axis, Select area to save	5.3.22
APM_PWM	Pulse width modulation	Reg, Slot, Axis, output cycle, off duty rate	5.3.23

Save parameter/operation
data

Chapter 5 Positioning Instructions
5 -3
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 parameter	origin return method	Set origin return method
origin return direction	Starting direction during origin return operation
Origin address	origin address in detecting origin
origin return speed	high/low speed during origin return operation
origin return dec./acc. time	dec./acc. time during origin return operation
origin return deceleration time	Set deceleration time during origin return operation
DWELL time	Time it takes to remove remaining pulse of 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 (0: DOG/origin (OFF))	DOG signal, origin signal	( ) is what is displayed in the positioning origin/manual parameter.
When DOG is On, detect the origin after deceleration . (1: DOG/origin (On))	DOG signal, origin signal
Detect the origin by DOG (2: DOG)	DOG signal

• The following diagram is an example of origin detection by DOG among the three ways of origin
return.
Chapter 5 Positioning Instructions
5 -4
(1) Origin return Instruction (ORG)
A
[Area seting]

Operand	Description	Setting range	Data size
sl	Slot number where positioning modules are mounted	XGB is fixed at 0.	WORD
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
origin return method	0 : DOG/Home(Off) 1 : DOG/Home(On) 2 : DOG	K4780 K4781	K5180 K5181	Read/write	2 bit
origin return direction	0 : CW, 1 : CCW	K4782	K5182	Read/write	Double word
Origin address	-2,147,483,648∼ 2,147,483,647[pulse]	K469	K509	Read/write	Double word
origin return high speed	1 ∼ 100,000[pps]	K471	K511	Read/write	Double word

Instruction

Available areas

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

ORG

○

4~7

○

ORG
COMMAND

ORG sl ax
Chapter 5 Positioning Instructions
5 -5

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

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

Chapter 5 Positioning Instructions
5 -6
(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.
• 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.

Standard Compact standard/high-end type
DOG origin DOG origin
axis X P0004 P0005 P000C P000D
axis Y P0006 P0007 P000E P000F

Chapter 5 Positioning Instructions
5 -7
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)
[Area Setting]

Operand	Description	Setting range	Data size
sl	Slot number where positioning module is mounted	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 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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

FLT

○

4~7

○

FLT
COMMAND

FLT sl ax
Chapter 5 Positioning Instructions
5 -8
(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
M0000	axis X floating origin instruction 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.
Chapter 5 Positioning Instructions
5 -9
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)
[[
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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

DST

○

4~7

○

DST
COMMAND

DST

Bit number	F	E	D	C	B	A	9	8	7	6	5	4	3	2	1	0
Setting item	Not used	Acc./dec. time	coordinates setting	Not used	control method
Setting range	-	0: 1, 1:2 2:3, 3:4	0: absolute 1: ncremental	-	0: position 1: speed

Chapter 5 Positioning Instructions
5 -10
• 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
M0000	axis X origin return instruction signal	BIT	-
M0001	axis X direct starting instruction signal	BIT	-
K4200	signal during axis X operation	BIT	-
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)
Chapter 5 Positioning Instructions
5 -11
(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.
Chapter 5 Positioning Instructions
5 -12
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)

[
IST
COMMAND

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

IST

○

4~7

○

[
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.
IST sl ax n1
Chapter 5 Positioning Instructions
5 -13
(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
M0000	axis X origin return instruction signal	BIT	-
M0001	axis X indirect starting instruction signal	BIT	-
K4200	signal during axis X operation	BIT	-
K4201	axis X error	BIT	-
D0000	Starting step number	WORD	3

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

(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.
Chapter 5 Positioning Instructions
5 -14
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.

Chapter 5 Positioning Instructions
5 -15
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)
A
[Area Setting]

Operand	Description	Setting range	Data size
sl	Slot number 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 carry out straight interpolation	0~30(standard), 0~80(advanced)	WORD
n2	Set the axis to carry out straight interpolation	XGB is set at 3	WORD

[Flag Set]

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

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

LIN

○

4~7

○

LIN
COMMAND

LIN sl ax n1 n2
Chapter 5 Positioning Instructions
5 -16
(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 used)	axis Y	axis X

- 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
M0000	axis X origin return instruction signal	BIT	-
M0001	BIT	-
K4200	signal during axis X operation	BIT	-
K4201	axis X error	BIT	-
D0000	Operation step number	WORD	10
D0001	Axis information	WORD	3

Interpolation starting
instruction signal
Chapter 5 Positioning Instructions
5 -17

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

(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.
Chapter 5 Positioning Instructions
5 -18
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)

[
SST
COMMAND

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

SST

○

4~7

○

[
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.
SST sl ax n1 n2 n3 n4
Chapter 5 Positioning Instructions
5 -19
(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
M0001	simultaneous starting instruction signal	BIT	-
K4200	signal during axis X operation	BIT	-
K4201	axis X error	BIT	-
K4300	signal during axis Y operation	BIT	-
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

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

(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.
Chapter 5 Positioning Instructions
5 -20
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)
[[
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

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

VTP

○

4~7

○

VTP
COMMAND

VTP sl ax
Chapter 5 Positioning Instructions
5 -21
(b) Device Used

Device	Description	Data size	Example of setting
M0001	BIT	-
K4211	Signal during axis X speed control	BIT	-
K4201	axis X error	BIT	-

speed/position switching
instruction signal (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.
Chapter 5 Positioning Instructions
5 -22
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)
[[
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

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

Cons
tant

(F110) Error

(F111) Zero

(F112) Carry

PTV

○

4~7

○

PTV
COMMAND

PTV sl ax
Chapter 5 Positioning Instructions
5 -23
(b) Device Used

Device	Description	Data size	Example of setting
M0001	position/speed switching instruction signal	BIT	-
K4210	signal during axis X position control	BIT	-
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).
Chapter 5 Positioning Instructions
5 -24
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)

[
STP

○

4~7

○

[
STP
COMMAND

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

○

[
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(immediate stop) 1~65,535(default)	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 designated axis of instruction works at the rising edge of the input signal.
• In case n1 is 0
- It stops right away without deceleration in XGB internal positioning.
- In this case, note that there might be shock noise or damage to the motor.
• In case n1 is 1~65535
- the deceleration time do not follow by n1 setting.
- It stops according to the operation data of the acceleration/deceleration number.
(For example, In DST operation STP deceleration time is followed by Acc./dec. number in DST.
In IST operation, STP deceleration time is followed by Acc./dec. number in operation data.)
(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.
STP sl ax n1
Chapter 5 Positioning Instructions
5 -25
(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
M0000	origin return instruction signal	BIT	-
M0001	Indirect starting instruction signal	BIT	-
M0002	BIT	-
K4200	signal during axis X position control	BIT	-
K4201	axis X error	BIT	-

Deceleration stop
instruction signal (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.
Chapter 5 Positioning Instructions
5 -26
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)
[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 value of the main axis position synchronous main axis	-2,147,483,648 ~ 2,147,483,647	DINT
n2	Operation step number of auxiliary axis	0~30(standard), 0~80(advanced)	WORD
n3	Setting of the main axis of position synchronous	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 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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

Cons
tant

(F110) Error

(F111) Zero

(F112) Carry

SSP

○

4~7

○

SSP
COMMAND

SSP sl ax n1 n2 n3
Chapter 5 Positioning Instructions
5 -27
• 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
M0001	main axis position synchronous instruction signal	BIT	-
M0002	main axis instruction signal	BIT	-
K4300	Signal during auxiliary axis (axis Y) position control	BIT	-
K4301	auxiliary axis(axis Y) Error	BIT	-
K4204	axis X origin fixed	BIT	-
K4304	axis Y origin fixed	BIT	-
K4200	Signal during the main axis(axis X) position control	BIT	-
K4201	main axis(axis X) Error	BIT	-

Chapter 5 Positioning Instructions
5 -28
(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.

Chapter 5 Positioning Instructions
5 -29
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

SSS

○

4~7

○

SSS
COMMAND

SSS sl ax n1 n2 n3
Chapter 5 Positioning Instructions
5 -30
• 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 value	Main axis setting	Remark
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	Only the advanced type is settable.
7	High speed counter Ch5
8	High speed counter Ch6
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.
Chapter 5 Positioning Instructions
5 -31
(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.
Chapter 5 Positioning Instructions
5 -32
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)
[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

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

POR

○

4~7

○

POR
COMMAND

POR sl ax n1
Chapter 5 Positioning Instructions
5 -33
(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).
Chapter 5 Positioning Instructions
5 -34
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

SOR

○

4~7

○

SOR
COMMAND

SOR sl ax n1
Chapter 5 Positioning Instructions
5 -35
(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).
Chapter 5 Positioning Instructions
5 -36
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

PSO

○

4~7

○

PSO
COMMAND

PSO sl ax n1 n2
Chapter 5 Positioning Instructions
5 -37
(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.
Chapter 5 Positioning Instructions
5 -38
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

INCH

○

4~7

○

INCH
COMMAND

INCH sl ax n1
Chapter 5 Positioning Instructions
5 -39
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

SNS

○

4~7

○

SNS
COMMAND

SNS sl ax n1
Chapter 5 Positioning Instructions
5 -40
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

MOF

○

4~7

○

MOF
COMMAND

MOF sl ax
Chapter 5 Positioning Instructions
5 -41
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)
[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	-2,147,483,648 ~ 2,147,483,647	DINT

Current position value to
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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

PRS

○

4~7

○

PRS
COMMAND

PRS

Chapter 5 Positioning Instructions
5 -42
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)
[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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

con
stan
t

Error
(F110)

Zero
(F111)

Carry
(F112)

EMG

○

4~7

○

EMG
COMMAND

EMG sl ax
Chapter 5 Positioning Instructions
5 -43
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)
[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	Whether output inhibition is terminated	0 ~ 65,535	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 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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

Cons
tant

(F110) Error

(F111) Zero

(F112) Carry

CLR

○

4~7

○

CLR
COMMAND

CLR sl ax n1
Chapter 5 Positioning Instructions
5 -44
(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.
Chapter 5 Positioning Instructions
5 -45
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)
[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 preserved	Positioning data	High speed counter data	PID control function data

• 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.

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

cons
tant

(F110) Error

(F111) Zero

(F112) Carry

WRT

○

4~7

○

WRT
COMMAND

WRT sl ax n1
Chapter 5 Positioning Instructions
5 -46
(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.

Chapter 5 Positioning Instructions
5 -47
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)
[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 in work • If PWM in Start-up • If output c • PWM app -XBM-DNx -XBC-DN/ -XBC-DN/	struction is executed, other instruction do not operate. And upper/lower limit does not struction is executed, STP, EMG instruction doesn’t operate. To stop output, Off the contact ycle is changed, when operating APM_PWM, it cannot be applied. licable version xS: H/W from V2.0, O/S V3.10 DPxxH: O/S from V2.03 DPxxSU: O/S from V1.10

Instruction

Areas available

Step

Flag

PMK

D.x

R.x

cons
tant

(F110) Error

(F111) Zero

(F112) Carry

WRT

○

4~7

○

Chapter 5 Positioning Instructions
5 -48
(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)
Chapter 5 Positioning Instructions
5 -49
5.3 Positioning Function Blocks (In case of 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 Name	Data Type	Description
Input Variables	REQ	BOOL	•Request for function block execution - If the condition in connection with this area is satisfied during the software running and 0→1 (edge or level), the function block is executed.
BASE	USINT	•Base Number - This area is for setting up the number of the base where the positioning module is mounted. (In the internal positioning of XGB, fix this to 0.)
SLOT	USINT	•Slot Number - This area is for setting up the number of the slot where the positioning module is mounted. (In the internal positioning of XGB, fix this to 0.)
AXIS	USINT	•Number of the axis in use - X-axis: 0, Y-axis: 1
Output Variables	DONE	BOOL	•Indicates completion of the function block execution - If the function block is executed without error, “1” is outputted and maintained until the next execution. If erroneous, “0” is outputted.
STAT	UINT	•Error State Indication - This area indicates the number of the error occurred in the start-up of the function block. (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 Code	Error Type	Countermeasures
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.
6	Axis range No. exceeded setting range	Adjust the axis No. within the allowable range of the function block (0: X-axis, 1: Y-axis)
10	A new function block was executed while the previous instruction has not been completed	Modify the program so that a new function block can be executed after completion of the previous instruction.
11	Set-up auxiliary input value exceeded allowable range	Adjust the value within the allowable range.

For other error code, see “Appendix 1. Error Code List.”
Chapter 5 Positioning Instructions
5 -50
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
Origin returning method	0: DOG/ Origin (Off) 1: DOG/ Origin (On) 2: DOG	%KX7648	%KX8288	Read/Writ e	Bool
%KX7649	%KX8289	Bool
Origin returning direction	0: normal, 1: reverse	%KX7650	%KX8290	Read/Writ e	Bool
Origin address	-2,147,483,648∼ 2,147,483,647[pulse]	%KD234	%KD254	Read/Writ e	DINT
Origin return high speed	1 ∼ 100,000[pps]	%KD235	%KD255	Read/Writ e	UDINT
Origin return low speed	1 ∼ 100,000[pps]	%KD236	%KD256	Read/Writ e	UDINT
Origin return accelerating time	0 ~ 10,000[ms]	%KW475	%KW515	Read/Writ e	UINT
Origin return decelerating time	0 ~ 10,000[ms]	%KW476	%KW516	Read/Writ e	UINT
Dwell time	0 ~ 50,000[ms]	%KW477	%KW517	Read/Writ e	UINT

Chapter 5 Positioning Instructions
5 -51
(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 method	1:DOG/HOME (On)
1: reverse
Origin address	0
Origin return at high speed	50,000 [pps]
Origin return at low speed	500 [pps]
Origin return accelerating time	100[㎳]
Origin return decelerating time	100[㎳]
Dwell time	100[㎳]

Origin returning
direction (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

Chapter 5 Positioning Instructions
5 -52
(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.

Note

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

XEC-DNxxH
DOG Origin point
X-axis %IX0.0.12 %IX0.0.13
Y-axis %IX0.0.14 %IX0.0.15
Home
(%IX0.0.13)
DOG
(%IX0.0.12)
Start Homing
(%MX0)
Homing
(%KX6741)
Origin Fix
(%KX6724)
Chapter 5 Positioning Instructions
5 -53
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.

Chapter 5 Positioning Instructions
5 -54
(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 Instruction	X-axis floating reference 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.
Chapter 5 Positioning Instructions
5 -55
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)

Form	Variable	Data Type	Description
ADDR	DINT	Target address (position) ● Setting range: -2,147,483,648 ~ 2,147,483,647
SPEED	UDINT	Operation velocity ● Setting range: 0 ~ 100,000
DWELL	DINT	Dwell time ● Setting range: 0 ~ 50,000
MCODE	UINT	M Code No. ● Setting range: 0 ~ 65,635
POS_SPD	BOOL	Position/velocity control selection ● Setting range: 0 ~ 1(0: position, 1: velocity)
ABS_INC	BOOL	Absolute/Incremental coordinates selection ● Setting range: 0 ~ 1(0: absolute, 1: Incremental)
TIME_SEL	USINT	Acceleration/deceleration time numbering ● Setting range: 0 ~ 3 0: Accl./Dec. time 1, 1: Accl./Dec. time 2, 2: Accl./Dec. time 3, 3: Accl./Dec. time 4

Chapter 5 Positioning Instructions
5 -56
(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
Chapter 5 Positioning Instructions
5 -57
(b) Used Devices

Device	Description	Data Size	Exemplary Setting
Reference Decision	X-axis reference return instruction signal	BOOL	-
Direct Start	X-axis direct start-up instruction signal	BOOL	-
%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
POS_SPD	Position/velocity control selection	BOOL	0
ABS_INC	Absolute/Incremental 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 Xaxis 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.
Chapter 5 Positioning Instructions
5 -58
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)

Form	Variable	Data Type	Description
STEP	UINT	Operation step No. ● 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.
Chapter 5 Positioning Instructions
5 -59
(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 Determination	X-axis reference return instruction signal	BOOL	-
Indirect Start	X-axis indirect start-up instruction signal	BOOL	-
%KX6720	X-axis in-operation signal	BOOL	-
%KX6721	X-axis error state	BOOL	-
STEP	Start-up step No.	UINT	3

Chapter 5 Positioning Instructions
5 -60

Step No.	Coordi nate	Op. Pattern	Contro l Type	Op. Type	Rep. Step	Target Pos. [Pulse]	M Code	Accl/de c. No.	Op. Speed [pls/s]	Dwell 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).

Note

•In additi
reference
 In the
fixed t
axis:
 There
chang
then t
•For the d

on to using indirect start instruction, indirect start can be done using the start signal
contact (X-axis: %KX6864, Y-axis: %KX7024) in the K area.
start-up using the start signal reference contact, the operation step is
o the present operation step number which is X-axis: %KW426, Y
%KW436.
fore, to change operation step in starting –up using start signal reference contact,
e the operation step with starting step number change instruction (APM_SNS) and
urn the start reference contact ON.
etails of the starting method using starting signal reference, see 3.4.2.

IndirectStart
(%MX321)
Dwell
(%KX6735)
Complete
(%KX6722)
Chapter 5 Positioning Instructions
5 -61
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)

Form	Variable	Data Type	Description
LIN_ AXIS	USINT	● Interpolation operation axis
STEP	UINT	Operation step No. ● setting range: 0 ~ 80

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

Chapter 5 Positioning Instructions
5 -62
(2) Sample Instruction
(a) Sample Program
(b) Used Device

Device	Description	Data Size	Example
Reference Decision	X-axis reference return instruction signal	BOOL	-
Interpolation Start	Interpolation start reference signal	BOOL	-
%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

Axis	Step No.	Coord inate	Op. Pattern	Contr ol Type	Op. Type	Rep. Step	Target Pos. [Pulse]	M Code	Accl/de c. No.	Op. Speed [pls/s]	Dwell Time [㎳]
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

Chapter 5 Positioning Instructions
5 -63
(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.
Chapter 5 Positioning Instructions
5 -64
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)

Form	Variable	Data Type	Description
SST_ AXIS	USINT	● Simultaneous start-up operation axis
X_STEP	UINT	Operation step No. ● Setting range: 0 ~ 80
Y_STEP	UINT	Operation Step No. ● Setting range: 0 ~ 80
Z_STEP	UINT	Dummy variable

Axis information
Setting
Value
Operation
Y- axis
axis(BIT1)
Xaxis(BIT0)
ON(1) ON(1) 3 X,Y
(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.
Chapter 5 Positioning Instructions
5 -65
(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 Start	BOOL	-
%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	-

Simultaneous start reference
signal

Axis	Step No.	Coord inate	Op. Pattern	Contr ol Type	Op. Type	Rep. Step	Target Pos. [Pulse]	M Code	Accl/de c. No.	Op. Speed [pls/s]	Dwell Time [㎳]
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.
Chapter 5 Positioning Instructions
5 -66
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 Transfer	BOOL	-
%KX6737	BOOL	-
%KX6721	X-axis error state	BOOL	-

Velocity/Position Transfer
reference signal X-axis in-velocity-control
signal
Chapter 5 Positioning Instructions
5 -67
(c) Program Operation

•At the occurrence of the rising edge of the velocity to position transfer used as the
position transfer reference signal, the VTP instruction is executed.

velocity

•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.
Chapter 5 Positioning Instructions
5 -68
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
instruction.

below shows the operation of the position/velocity control transfer

(a) Sample Program
(b) Used Devices

Device	Description	Data Size	Exemplary Setting
Position/Velocity Transfer	BIT	-
%KX6736	BIT	-
%KX6721	X-axis error state	BIT	-

Position/Velocity transfer
reference signal X-axis in-position control
signal
Chapter 5 Positioning Instructions
5 -69
(c) Program Operation

•At the occurrence of the rising edge of the position/velocity transfer signal used as
position/velocity transfer reference signal, the PTV instruction is executed.

the

•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.
Chapter 5 Positioning Instructions
5 -70
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
DEC_TIME	UINT	Deceleration time ● 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.

Chapter 5 Positioning Instructions
5 -71
(2) Sample Instruction
•The sample program below show the exemplary operation of the deceleration stop.
(a) Sample Program
Chapter 5 Positioning Instructions
5 -72
(b) Used Devices

Device	Description	Data Size	Exemplary 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, Yaxis: %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.
Chapter 5 Positioning Instructions
5 -73
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
STEP	UINT	Operation step No. ● Setting range: 0 ~ 80
MST_ AXIS	USINT	Main axis ● Setting range: 0 ~ 1(0: X-axis, 1: Y-axis)
MST_ ADDR	DINT	Target position of main axis ● 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.
Chapter 5 Positioning Instructions
5 -74
•When the instruction is executed, the sub-axis does not out real pulses (at this time, the inoperation-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.
Chapter 5 Positioning Instructions
5 -75
(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	-
%KX6880	Sub-axis (Y-axis) position being controlled signal	BIT	-
%KX6881	Sub-axis (Y-axis) in error state	BIT	-
%KX6724	X-axis reference determined state	BIT	-
%KX6884	Y-axis reference determined state	BIT	-
%KX6720	Main axis (X-axis) position being controlled signal	BIT	-
%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.
Chapter 5 Positioning Instructions
5 -76

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.

Chapter 5 Positioning Instructions
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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
MST_ AXIS	USINT	● Main axis setting range
SLV_RAT	UINT	Speed ratio of sub-axis ● Setting range: 1 ~ 10,000(0.01 ~ 100.00%)
DELAY	USINT	Sub-axis delay time ● Setting range: 1 ~ 10(1 ~ 10ms)

Setting
Value
Main Axis
Setting
Setting
Value
Main Axis
Setting
0 X-axis 5 High Speed
Counter Ch3
1 Y-axis 6 High Speed
Counter Ch4
2 High Speed
Counter Ch0
7 High Speed
Counter Ch5
3 High Speed
Counter Ch1
8 High Speed
Counter Ch6
4 High Speed
Counter Ch2
9 High Speed
Counter Ch7
(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 inoperation-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.
Chapter 5 Positioning Instructions
5 -78
•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.
Chapter 5 Positioning Instructions
5 -79
(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.
Chapter 5 Positioning Instructions
5 -80
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_ ADDR	DINT	Position ● 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.
Chapter 5 Positioning Instructions
5 -81
(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.
Chapter 5 Positioning Instructions
5 -82
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_ SPD	UDINT	Operating Speed ● 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.
Chapter 5 Positioning Instructions
5 -83
(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.
Chapter 5 Positioning Instructions
5 -84
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
PSO_ADDR	DINT	Target position ● Setting range: -2,147,483,648 ~ 2,147,483,647
PSO_SPD	UDINT	Operating Speed ● 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.
Chapter 5 Positioning Instructions
5 -85
(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.
Chapter 5 Positioning Instructions
5 -86
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
INCH_VAL	DINT	Inching Distance ● 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.
Chapter 5 Positioning Instructions
5 -87
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
STEP	UINT	Operation Step No. ● 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.
Chapter 5 Positioning Instructions
5 -88
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.
Chapter 5 Positioning Instructions
5 -89
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
PRS_ADDR	DINT	Preset Value ● 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.
Chapter 5 Positioning Instructions
5 -90
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 Yaxis of the XEC internal positioning stop operation immediately. Error code 481 is generated and
output is cut off.
Chapter 5 Positioning Instructions
5 -91
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
INH_OFF	BOOL	Output cut-off release ● Setting range: 0 ~ 1 (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.
Chapter 5 Positioning Instructions
5 -92
(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.
Chapter 5 Positioning Instructions
5 -93
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)

Form	Variable	Data Type	Description
WRT_AXIS	USINT	•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. •If WRT_AXIS is set to 0, the present operation data in the 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.

Setting Value 0 1 2
K area to be
preserved
Positioning
Data
High Speed
Counter
Data
PID Control
Data

Chapter 5 Positioning Instructions
5 -94
(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.

Chapter 5 Positioning Instructions
5 -95
5.3.23 Pulse Width Modulation
• Pulse Width Modulation is to operate On/Off output in designated Off duty rate and Output cycle.
(1) Pulse Width Modulation (APM_PWM)

Form	Variable	Data Type	Description
FREQ	WORD	Output cycle ● Setting rage: 1~20,000(ms)
DUTY	WORD	Off duty rate ● 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, Yaxis: %KX6893) and Operation bit(X- axis: %KX6720, Y- axis:%KX6880) set On.
(2) Example of Use of the Instruction
(a) Sample Program
Chapter 5 Positioning Instructions
5 -96
(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_P does not • If APM_P the Start- • If output c • PWM app -XEC-DN/ -XEC-DN/	WM instruction is executed, other instruction do not operate. And upper/lower limit work WM instruction is executed, STP, EMG instruction doesn’t operate. To stop output, Off up contact ycle is changed, when operating APM_PWM, it cannot be applied. licable version DPxxH: O/S from V1.50 DPxxSU: O/S from V1.00

Chapter 6 Positioning Monitoring Package
6-1
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 XBCH, over V3.0
for XECH, over V3.4 for XBCS, over V3.7 for XECS), 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’  ‘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.
Chapter 6 Positioning Monitoring Package
6-2
• 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 PLC.	WRT function
Saves the changed parameter and operation data in XG5000 project.

• For details of each menu, refer to 6.2.
Chapter 6 Positioning Monitoring Package
6-3
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
Indirect start	Direct start with the operation step set in the monitoring window	IST APM_IST	5.2.4 5.3.5
Error reset	Resets the error code and output inhibition in case of an error	CLR APM_RST	5.2.20 5.3.21
Direct start	Directly starts with the position, speed, dwell, M code, acc./dec. number, coordinates and control method set in the monitoring window	DST APM_DST	5.2.3 5.3.4
M code OFF	Cancels the M code On signal and M code number	MOF APM_MOF	5.2.17 5.3.18
Dec. stop	Carries out deceleration stop in the set deceleration time	STP APM_STP	5.2.9 5.3.10
EMG stop	Stops the operation of the axis and inhibits pulse output	EMG APM_EMG	5.2.19 5.3.20

Chapter 6 Positioning Monitoring Package
6-4

Item	Description	Command	Remark
Spd override	Overrides the speed at the set speed value	SOR APM_SOR	5.2.13 5.3.14
Pos override	Overrides the position at the set position value	POR APM_POR	5.2.12 5.3.13
Spd override with position	Changes the operation speed at the speed value set in the set position	PSO APM_PSO.	5.2.14 5.3.15
Home return	Conducts home return as the home return method set in the positioning parameter	ORG APM_ORG	5.2.1 5.3.2
FLT	Sets the current position as the fixed home	FLT APM_FLT	5.2.2 5.3.3
Position preset	Presets the current position with the set value	PRS APM_PRS	5.2.18 5.3.19
Start step No.	Changes the start step with the set step	SNS APM_SNS	5.2.16 5.3.17
Inching	Conducts inching operation to the set position (inching amount) at the inching speed set in the positioning parameter	INCH APM_INC	5.2.15 5.3.16
Jog	Conducts jog operation at the jog speed set in the parameter	-
Reverse high speed	Reverse low speed	Jog stop	Normal low speed	Normal high speed
Spd position conversion	Changes from speed control to position control	VTP APM_VTP	5.2.7 5.3.8
Position spd conversion	Changes from position control to speed control	PTV APM_PTV	5.2.8 5.3.9
Spd synchronous operation	Speed synchronous operation at the set main axis, speed ration and delay time	SSS APM_SSS	5.2.11 5.3.12
Position synchronous operation	Speed synchronous operation at the set main axis, step and position	SSP APM_SSP	5.2.10 5.3.11
Simultaneous start	Simultaneous start with the operation step set for each axis	SST APM_SST	5.2.6 5.3.7
Straight interpolation operation	Straight interpolation operation for axes X and Y with the set operation step	LIN APM_LIN	5.2.5 5.3.6

Chapter 6 Positioning Monitoring Package
6-5

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

Item	Displays	Related flag	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 complete	Whether the positioning has been completed for the axis	K4202	K4302	BIT
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 detection	Whether the upper limit is detected	K4208	K4308	BIT
Lower limit detection	Whether the lower limit is detected	K4209	K4309	BIT
EMG stop	Emergency stop	K420A	K430A	BIT
Normal/reverse rotation	Normal and reverse rotation	K420B	K430B	BIT
Operation status	The operation status of each axis (acc., dec., constant speed, and dwell)	K420C~ K420F	K430C~ K430F	BIT
Control pattern	Operation control pattern of each axis (position, speed, interpolation)	K4210~ K4212	K4310~ K4312	BIT

Chapter 6 Positioning Monitoring Package
6-6

Item

Displays

Related flag

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 conducted	K4217	K4317	BIT
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

Item	Displays	Related flag	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 complete	Whether the positioning has been completed for the axis	%KX6722	%KX6882	BIT
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 detection	Whether the upper limit is detected	%KX6728	%KX6888	BIT
Lower limit detection	Whether the lower limit is detected	%KX6729	%KX6889	BIT
EMG stop	Emergency stop	%KX6730	%KX6890	BIT
Normal/reverse rotation	Normal and reverse rotation	%KX6731	%KX6891	BIT
Operation status	The operation status of each axis (acc., dec., constant speed, and dwell)	%KX6732 ~ %KX6735	%KX6892 ~ %KX6895	BIT
Control pattern	Operation control pattern of each axis (position, speed, interpolation)	%KX6736 ~ %KX6738	%KX6896 ~ %KX6898	BIT

Chapter 6 Positioning Monitoring Package
6-7

Item

Displays

Related flag

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 conducted	%KX6743	%KX6903	BIT
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.

Item	Displays	Type	Contact No.	Remark
Axis X	Axis Y
Upper limit signal	External upper limit signal status of the axes	XBM	P00001	P00003
XBC	P00009	P0000B
XEC	%IX0.0.9	%IX0.0.11
Lower limit signal	External lower limit signal status of the axes	XBM	P00000	P00002
XBC	P00008	P0000A
XEC	%IX0.0.8	%IX0.0.10
Approximate origin signal	Approximate origin signal status of the axes	XBM	P00004	P00006
XBC	P0000C	P0000E
XEC	%IX0.0.12	%IX0.0.14
Origin signal	Origin signal status of the axes	XBM	P00005	P00007
XBC	P0000D	P0000F
XEC	%IX0.0.13	%IX0.0.15

Chapter 6 Positioning Monitoring Package
6-8
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.

Chapter 6 Positioning Monitoring Package
6-9
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

Chapter 7 Program Examples of Positioning
7 -1
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.

BCD digital switch
Servo driver
Servo motor
Chapter 7 Program Examples of Positioning
7 -2
(2) XBC(XEC)-DNxxH system configuration
BCD Digital switch
Servo motor
Servo driver
Chapter 7 Program Examples of Positioning
7 -3
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
Chapter 7 Program Examples of Positioning
7 -4
(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

Step No.	coordi nates	Control pattern	Operatio n pattern	Operatio n type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Abso lute	Position control	End	Single	0	10,000	0	1	1000	100
2	Abso lute	Position control	End	Single	0	20,000	0	1	1500	100
3	Abso lute	Position control	End	Single	0	30,000	0	1	2000	100

(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.
Chapter 7 Program Examples of Positioning
7 -5
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

Chapter 7 Program Examples of Positioning
7 -6
(2) XEC
Chapter 7 Program Examples of Positioning
7 -7
(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

Axis	Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
X	1	Absolute	Position control	End	Single	0	10,000	0	1	1000	100
Y	1	Absolute	Position control	End	Single	0	5,000	0	1	1000	100

(4) Operation Sequence
• P0009/%IX0.1.1 (floating origin) switch On : set as the floating origin at the current position.
• P000E/%IX0.1.7 (straight interpolation start) switch On : the straight interpolation start of axes X-Y
is started.
Chapter 7 Program Examples of Positioning
7 -8
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

Chapter 7 Program Examples of Positioning
7 -9
(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

Chapter 7 Program Examples of Positioning
7 -10
(3) Operation Data Setting

Step No.	coordina tes	Control pattern	Operatio n pattern	Operatio n type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
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

Chapter 7 Program Examples of Positioning
7 -11
(2) XEC
Chapter 7 Program Examples of Positioning
7 -12
(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

Step No.	coordi nates	Control pattern	Operatio n pattern	Operatio n type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Abs olute	Position control	End	Single	0	10,000	0	1	1,000	100
2	Abs olute	Position control	End	Single	0	20,000	0	1	1,500	100
3	Abs olute	Position control	End	Single	0	30,000	0	1	2,000	100
10	Abs olute	Position control	End	Single	0	50,000	0	1	1,000	100
11	Abs olute	Position control	End	Single	0	60,000	0	1	1,500	100
12	Abs olute	Position control	End	Single	0	70,000	0	1	2,000	100

(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
Chapter 7 Program Examples of Positioning
7 -13
(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
Chapter 7 Program Examples of Positioning
7 -14
(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

Step No.	coordi nates	Control pattern	Operatio n pattern	Operatio n type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Abs olute	Position control	End	Single	0	10,000	0	1	1,000	100
2	Abs olute	Position control	End	Single	0	20,000	0	1	1,500	100
3	Abs olute	Position control	End	Single	0	30,000	0	1	2,000	100
10	Abs olute	Speed control	End	Single	0	50,000	0	1	1,000	100
11	Abs olute	Position control	End	Single	0	60,000	0	1	1,500	100
12	Abs olute	Position control	End	Single	0	70,000	0	1	2,000	100

(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.
Chapter 7 Program Examples of Positioning
7 -15
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

Chapter 7 Program Examples of Positioning
7 -16
(2) XEC
Chapter 7 Program Examples of Positioning
7 -17
(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

Axis	Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
X	1	Absolu te	Position control	End	Single	0	10,000	0	1	1000	100
Y	2	Absolu te	Position control	End	Single	0	20,000	0	1	2000	100

(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
Chapter 7 Program Examples of Positioning
7 -18
(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
Chapter 7 Program Examples of Positioning
7 -19
(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

Axis	Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
X	1	Absolu te	Position control	End	Single	0	10,000	0	1	1000	100
Y	1	Absolu te	Position control	End	Single	0	20,000	0	1	2000	100

Chapter 7 Program Examples of Positioning
7 -20
(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

Chapter 7 Program Examples of Positioning
7 -21
(2) XEC
Chapter 7 Program Examples of Positioning
7 -22
(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

Chapter 7 Program Examples of Positioning
7 -23
(3) Operation Data Setting

Axis	Step No.	coordina tes	Control pattern	Operatio n pattern	Operatio n type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
X(auxiliary axis)	1	Absol ute	Position control	End	Single	0	10,000	0	1	1000	100
Y(main axis)	1	Absol ute	control Speed	End	Single	0	15000	0	1	1000	100

(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

Chapter 7 Program Examples of Positioning
7 -24
(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

Chapter 7 Program Examples of Positioning
7 -25
(3) Operation Data Setting

Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Absolut e	Speed control	End	Single	0	10000	0	1	1000	100

(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

Chapter 7 Program Examples of Positioning
7 -26
(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

Chapter 7 Program Examples of Positioning
7 -27
(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

Chapter 7 Program Examples of Positioning
7 -28
(2) XEC
Chapter 7 Program Examples of Positioning
7 -29
(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

Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Absolut e	Position control	End	Single	0	100000	0	1	5000	100

(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
Chapter 7 Program Examples of Positioning
7 -30
(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
Chapter 7 Program Examples of Positioning
7 -31
(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

Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Absolut e	Position control	End	Single	0	100000	0	1	5000	100

(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.
Chapter 7 Program Examples of Positioning
7 -32
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

Chapter 7 Program Examples of Positioning
7 -33
(2) XEC
Chapter 7 Program Examples of Positioning
7 -34
(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

Step No.	coordinat es	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Absolut e	Position control	End	Single	0	100000	0	1	10000	100

(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
Chapter 7 Program Examples of Positioning
7 -35
(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
Chapter 7 Program Examples of Positioning
7 -36
Chapter 7 Program Examples of Positioning
7 -37
(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

Step No.	coordinates	Control pattern	Operation pattern	Operation type	Repeat step	Target position [pulse]	M code	Acc./Dec. No.	Operation speed [pls/s]	Dwell time [㎳]
1	Relative	Position control	End	Repeat	1	10,000	0	1	1000	100

(4) Positioning Basic Parameter Setting

Parameter	Set value
Speed limit	100,000
Acceleration time 1	100
Deceleration time 1	100

Chapter 7 Program Examples of Positioning
7 -38
(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.

Chapter 8 Troubleshooting Procedure
8 -1
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.
Chapter 8 Troubleshooting Procedure
8 -2
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
On	• Rated voltage is normally supplied to XGB.	• The power supply is normal, so check whether there is another cause.
Flashing	• One of the following might be the cause. - Rated voltage/current set for the XGB is not being supplied. - Problem with the PLC hardware - Problem with external lines	• Check the voltage and current of the power supply. • Remove the input and output lines, re-supply power and check again. - If there still is the same problem, contact the A/S office or customer center.
Off	• Power is not being supplied. • Supplied voltage is lower than the rated voltage. • The cable is severed. • There is a problem with the PLC hardware.	• Check whether rated voltage is being normally supplied to the PLC. - If normally supplied, contact an A/S office or customer center.

Chapter 8 Troubleshooting Procedure
8 -3
(2) RUN LED Check

LED	PLC trouble	Actions to take
On	• The program is being normally operated.	• Check whether there is another cause.
Off	• The running of the program has stopped.	• The program has stopped. - Check the ERR LED to find whether it is because of an error or the operation mode is STOP.

(3) ERR LED Check

LED	PLC trouble	Actions to take
On	• A problem with the PLC hardware	• There is a problem with the PLC hardware, so contact an A/S office or customer center.
Flashing	Quick flashing (0.1 sec)	• Serious trouble that makes operation impossible	• Access XGB with XG5000, execute ‘Online’  ‘PLC error/warning’, check the error and warning, and remove the cause.`
Slow flashing (0.5 sec)	• A minor problem with operation continuing
On	• The program is being normally run.	• The program is being normally run, so check 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

Signal	Contact point	LED status	Error and actions to take
Pulse output	P20,P21 (XBM, XBCH) P40,P41 (XBCS) Q00,Q01 (XECH,XECS)	Fast flashing	• Pulse is being normally output by the positioning function. • Check whether there is a problem with the lines of the XGB and motor driver.
Off	• Pulse is not being normally output. - Positioning operation has finished (normal).  Start the next operation instruction. - There is an error that makes positioning operation impossible.  Check the positioning error code and remove the cause. • For the method of check the error code, refer to Appendix 1.1.

Chapter 8 Troubleshooting Procedure
8 -4

Signal	Contact point	LED status	Output level	Error and actions to take
Direction output	P22,P23 (XBM, XBCH) P42,P43 (XBCS) Q02,Q03 (XECH,XECS)	On	Low Active	• Direction signals are being output in the normal direction (normal).
HIGH Active	• Direction signals are being output in the reverse direction (normal). • Pulse is not being normally output - Positioning operation has finished (normal)  Start the next operation instruction. - There is an error that makes positioning operation impossible  Check the positioning error code and remove the cause.
Off	Low Active	• Direction signals are being output in the reverse direction (normal) • Pulse is not being normally output - Positioning operation has finished (normal)  Start the next operation instruction. - There is an error that makes positioning operation impossible  Check the positioning error code and remove the cause.
HIGH Active	• Direction signals are being output in the normal direction (normal).

(b) When the pulse output mode is the CW/CCW mode

Signal	CW contact point	CCW contact point	Error and actions to take
CW output	Flashing	Off	• CW pulse is being normally output (normal).
Flashing	• The pulse is being abnormally output.  Contact an A/S office or customer center.
Off	Off	• Pulse is not being output (normal). - Positioning operation has finished (normal).  Start the next operation instruction. - There is an error that makes positioning operation impossible.  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.

Chapter 8 Troubleshooting Procedure
8 -5
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’  ‘Special Module Monitor’  ‘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

Chapter 8 Troubleshooting Procedure
8 -6
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.
Appendix 1 List of Error Codes
APP.1-1
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’  ‘PLC error/warning’ menu.

Code	Cause	Action to take	Type	LED status	Detected during
23	There is a problem with the program to run	Re-download and run the project	Minor	0.5 second Flicker	RUN
24	Over I/O parameter	Check the preservation by reading I/O parameter or basic parameter according to the error code type. If there is a problem, correct it to Write with PLC and check the operation. If the problem still goes on, replace the basic unit.	Minor	0.5 second Flicker	Reset RUN mode conversion
25	Over basic parameter	Minor	0.5 second Flicker	Reset RUN mode conversion
30	The module set in I/O parameter does not match the actually mounted module.	Correct the I/O parameter for it to match the actually mounted module and write with PLC.	Minor	0.5 second Flicker	RUN mode conversion
31	Module is removed or another module is mounted during operation	Turn OFF -> ON.	Serious	0.1 second Flicker	Every scan
33	Data of input and output modules during operation are not normally collected	Replace the module and restart it after checking the input and output where the error took place by using XG5000.	Serious	0.1 second Flicker	Scan end
34	Data of special/comm.. module during operation are not normally collected	Serious	0.1 second Flicker	Scan end
38	Number of additionally mounted modules exceeded	No more than 7 layer can be added, remove the excessively added modules and restart.	Serious	0.1 second Flicker	Every scan
39	PLC CPU operation overload or failure due to noise or hardware	1) If repeated when resupply power, call A/S. 2) Carry out noise action.	Serious	0.1 second Flicker	Any time
40	Program scan time during operation exceeds the set scan delay monitoring time	Check the scan delay monitoring time of the basic parameter, and modify it or the program and restart.	Minor	0.5 second Flicker	Program running
41	Operation error during sequence program	Check the step where the operation error took place, remove the cause and restart.	Minor	0.5 second Flicker	Program running
44	Timer index use error	Modify the timer index program, write the program and restart.	Minor	0.5 second Flicker	Scan end
50	Serious failure is detected in external device due to sequence program	Refer to the serious failure detecting error flag of external device, repair it and restart.	Serious	0.1 second Flicker	Scan end
60	E_STOP function performed	Remove the cause of error that started the E-STOP function in the program and re-supply power.	Serious	0.1 second Flicker	Program running
500	Data memory backup error	Re-supply power. (converted to STOP mode in remote mode)	Warning	1 second Flicker	Power On

Appendix 1 List of Error Codes
APP.1-2

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 code	Description	Operation	Countermeasures
101	Exceeding the max speed range of basic parameter	Stop	Change the max speed value
102	Exceeding the bias speed of basic parameter 1) bias speed ≥ Speed limit 2) bias speed = 0	Stop	Re-adjust it lower then the max speed of basic parameter.
103	ACC time setting error 1) ACC time > 10,000 2) Jog ACC time > 10,000	Stop	Re-adjust ACC time of basic parameter lower than 10,000
104	DEC time setting error 1) DEC time > 10,000 2) Jog DEC time > 10,000	Stop	Re-adjust DEC time of basic parameter lower than 10,000
105	Setting non use dedicated positioning at parameter	Stop	Setting dedicate positioning.
111	Expansion parameter soft upper/lower limit error • S/W upper > S/W lower	Stop	Re-adjust S/W upper limit equal to or larger than the lower limit.
121	Manual operation parameter jog high speed range exceeding error 1) Jog high speed < bias speed 2) Jog high speed > > max speed 3) Jog high speed = 0 4) Jog high speed < Jog low speed	Stop	Re-adjust to be max speed≥jog high speed≥bias speed
122	Manual operation parameter jog low speed range exceeding error 1) Jog low speed < bias speed 2) Jog low speed > max speed 3) Jog low speed = 0 4) Jog low speed > Jog high speed	Stop	Re-adjust to be jog high speed≥jog low speed≥ 1.
123	Manual operation parameter inching speed range exceeding error 1) inching speed < bias speed 2) inching speed > > max speed	Stop	Re-adjust to be max speed ≥ inching speed ≥ bias speed
131	Home return parameter home return mode value range exceeding error	Stop	Re-adjust to be 0 < home return parameter ≤ 3. (1:Dog/origin(On) 2:upper/lower limit/origin 3:DOG)
132	Home return parameter home return address range exceeding error	Stop	Re-adjust to be S/W upper limit ≥ home return address≥ S/W lower limit
133	Home return parameter home return high speed range exceeding error 1) home return high speed < bias speed 2) home return high speed > max speed	Stop	Re-adjust to be max speed ≥home return high speed ≥ bias speed
134	Home return parameter home return low speed range exceeding error 1) home return low speed < bias speed 2) home return low speed > home return high speed	Stop	Re-adjust to be home return high speed ≥home return low speed≥ bias speed
135	Home return dwell time out error of home return parameter • Home return dwell time > 50,000	Stop	Re-adjust dwell time lower than 50000.

Appendix 1 List of Error Codes
APP.1-3

Error code	Description	Operation	Countermeasures
136	Home return ACC time setting error • Home return ACC time > 10,000	Stop	Re-adjust home return ACC time lower than 10,000
137	Home return DEC time setting error • Home return DEC time > 10,000	Stop	R-adjust home return Dec time lower than 10,000.
151	Operation speed ‘0’ setting error of operation data	Stop	Set operation speed over ‘0’.
152	Operation speed of operation data exceeding the max speed	Stop	Re-adjust to be max speed ≥ operation speed.
153	Operation speed of operation data set lower than bias speed.	Stop	Re-adjust to be operation speed ≥ bias speed.
154	Exceeding dwell time setting range of operation data	Stop	Set dwell time lower than 50000.
155	Exceeding end/continuous/sequential setting range of operation data	Stop	Re-set operation pattern of operation data as one of 0:end, 1:continuous or 2:sequential
201	Home return command is unavailable during operation	Stop	Check whether command axis was not operating at the time of home return command.
202	Home return command is unavailable in case of ‘no output’ status.	Stop	Check whether command axis was not in ‘no output’ status at the time of home return command.
211	Floating origin setting command is unavailable during operation.	Stop	Check whether command axis was not operating at the time of floating origin setting command.
221	Direct start command is unavailable during operation.	Stop	Check whether command axis was not operating at the time of direct start command
222	Direct start command is unavailable in case of ‘no output ’ status.	Stop	Check whether command axis was not in ‘no output’ status at the time of direct start command.
223	Direct start command is unavailable in case of M code On	Stop	Check whether M code of command axis was not On at the time of direct start command.
224	Direct start command is unavailable without origin set in absolute coordinate.	Stop	Absolute coordinate operation is not available without origin set. Check whether operation data to operate and the current origin set.
231	Indirect start command is unavailable during operation	Operati on	Check whether command axis was not operating at the time of indirect start command.
232	Indirect start command is unavailable in case of ‘no output’ status.	Stop	Check whether command axis was not in ‘no output’ status at the time of indirect command.
233	Indirect start command is unavailable in case of M code On.	Stop	Check whether M code signal of command axis was not On at the time of indirect start command.
234	Indirect start command is unavailable without origin set in absolute coordinate.	Stop	Absolute coordinate operation is not available without origin set. Check whether operation data to operate and the current origin set.
236	Continuous operation of indirect start is unavailable in speed control.	Stop	Re-set single or continuous operation if operation data control method is speed
241	Linear interpolation start is unavailable when main axis of linear interpolation s operating.	Operati on	Check whether main axis was not operating at the time of linear interpolation command.
242	Linear interpolation start is unavailable when sub axis of linear interpolation is operating.	Operati on	Check whether sub axis was not operating at the time of linear interpolation command.

Appendix 1 List of Error Codes
APP.1-4

Error code	Description	Operation	Countermeasures
244	Linear interpolation start is unavailable when main axis of linear interpolation is in ‘Output disabled’ status.	Stop	Check whether main axis was not in ‘Output disabled’ status at the time of linear interpolation command.
245	Linear interpolation start is unavailable when sub axis of linear interpolation is in ‘Output disabled’ status.	Stop	Check whether a sub axis was not in ‘Output disabled’ status at the time of linear interpolation command.
247	Linear interpolation start is unavailable when the M code signal of linear interpolation’s main axis is On.	Stop	Check whether M code signal of main axis was not On at the time of linear interpolation command.
248	Linear interpolation start is unavailable when M code signal of linear interpolation’s sub axis is On.	Stop	Check whether M code signal of sub axis was not On at the time of linear interpolation.
250	Absolute coordinate positioning operation is unavailable when the origin of linear interpolation sub axis is not set.	Stop	Absolute coordinate operation is not available without origin set. Check whether operation data to operate and the current origin set.
251	Absolute positioning operation is unavailable when the origin of linear interpolation’s sub axis is not set.	Stop	Absolute coordinate operation is not available without origin set. Check whether operation data to operate and the current origin set.
253	Main axis and sub axis of linear interpolation are set incorrectly.	Stop	Re-set the axis date as 3 of linear interpolation command.
257	Linear interpolation is not available when the target position of main axis does not have a target position.	Stop	Check whether the target position of operation data of a step for linear interpolation was not the present status in case of absolute coordinate or set to ‘0’ in case of Incremental coordinate.
258	Linear interpolation is unavailable when main axis is controlling speed.	Stop	Check whether the control method of main axis operation data step for linear interpolation operation was not set by speed control.
259	Linear interpolation is unavailable when sub axis is controlling speed.	Stop	Check whether the control method of sub axis operation data step for linear interpolation was not set by speed control.
291	Concurrent start command is unavailable during operation.	Operatio n	Check whether an axis with error was not contained in concurrent start command and whether there wasn’t any operating axis at the time of the command
292	Concurrent start command is unavailable in ‘no output’ status.	Stop	Check whether an axis with error was not contained in concurrent start command and whether it was not in ‘no output’ status at the time of the command.
293	Concurrent start command is not available with M code On	Stop	Check whether an axis with error was not contained in concurrent 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
301	Speed/position switching command is unavailable while not operating.	Stop	Check whether an axis did not stop at the time of speed/position switching command.
302	Speed/position switching command is unavailable while not controlling speed.	Stop	Check whether an axis was not in speed control status at the time of speed/position switching command.
304	Speed/position switching command is unavailable without target position.	Stop	Check whether operation had a move(amount) at the time of speed/position switching command.

Appendix 1 List of Error Codes
APP.1-5

Error code	Description	Operation	Countermeasures
311	Position/speed switching command is unavailable while not operating.	Stop	Check whether an axis did not stop at the time of position/speed switching command.
312	Position/speed switching command is unavailable On a sub axis of synchronic operation.	Stop	Check whether an axis was operating as a synchronic operation sub axis at the time of position/speed switching command.
314	Position/speed switching command is unavailable during linear operation.	Operation	Check whether an axis was not in linear interpolation operation at the time of position/speed switching command.
321	DEC stop command is unavailable while not operating.	Stop	Check whether it was not operating at the time of DEC stop command.
322	DEC stop command is not available during jog operation.	Operation	Check whether it was not jog-operating at the time of DEC stop command.
341	Position synchronic command is not available during operation	Operation	Check whether an axis was not in operating at the time of position synchronic command
342	Position synchronic command is unavailable in ‘no output’ status.	Stop	Check whether an axis was not in ‘no output’ status at the time of position synchronic command.
343	Position synchronic command is unavailable with M code On.	Stop	Check whether M code signal of an axis was not On at the time of position synchronic command.
344	Position synchronic command is unavailable without origin set.	Stop	Absolute coordinate operation is not available without origin set. Check whether operation data to operate and the current origin set.
346	Position synchronic command is unavailable without origin of main axis set.	Stop	Check whether main axis was without origin set at the time of position synchronic command.
347	There is an error of setting main/sub axis of position synchronic command.	Stop	Check whether main axis of position synchronic command was not set equally with command axis.
351	Speed synchronic command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of speed synchronic command.
352	Speed synchronic command is unavailable in ‘no output’ status.	Stop	Check whether an axis was not in ‘no output’ status at the time of speed synchronic command.
353	Speed synchronic command is unavailable with M code On	Stop	Check whether M code signal of an axis was not On at the time of speed synchronic command.
355	There is an error of main/sub axis setting of speed synchronic command. 1) main/ sub axis were set equally 2) set of main axis >5	Stop	Check whether the main axis of speed synchronic command was not set equally with command axis.
356	There is an error of synchronization ratio setting of speed synchronic command	Stop	Check whether the synchronization ratio of speed synchronic command was not set between 0~10,000.
357	Delay time setting error	Stop	Check whether delay time was set between 1 ~ 10ms.
361	Position override command is unavailable in any other status but ‘busy’	Stop	Check whether an axis did not stop at the time of position override command.
362	Position override command is unavailable during dwelling	Stop	Check whether an axis was not dwelling at the time of position override command.
363	Position override command is unavailable in any other status but positioning operation.	Operation	Check whether an axis was not operating by position control at the time of position override command.
364	Position override command is unavailable for an axis of linear interpolation operation.	Operation	Check whether an axis was not in linear-interpolation operation at the time of position override command.

Appendix 1 List of Error Codes
APP.1-6

Error code	Description	Operation	Countermeasures
366	Position override command is unavailable for a synchronic operation sub axis.	Operation	Check whether an axis was not operating as a sub axis of synchronic operation at the time of position override command.
371	Speed override command is unavailable in any other status but ‘busy’.	Stop	Check whether an axis did not stop at the time of speed override command.
372	Out-of speed override range error	Stop	Re-set the speed of speed override command equal to or lower than the max speed set in the basic parameter.
373	Speed override command is unavailable to an sub axis of linear interpolation operation.	Operation	Check whether an axis was not operating as a sub axis of linear interpolation at the time of speed override command.
375	Speed override command is unavailable to an sub axis of synchronic operation	Operation	Check whether an axis was not operating as a sub axis of synchronic operation at the time of speed override command.
377	Speed override command is unavailable in a DEC section	Operation	Check whether an axis was not decelerating for stoppage at the time of speed override command.
381	Positioning speed override command is unavailable in any other status but ‘operation’.	Stop	Check whether an axis did not stop at the time of positioning speed override command.
382	Positioning speed override command is unavailable in any other operation but ‘positioning operation’	Stop	Check whether an axis was not in speed control operation at the time of positioning speed override.
383	Out of speed override range error of positioning sped override command	Stop	Check whether the speed of positioning speed override command was not equal to or lower than the max speed set in parameter.
384	Positioning speed override command is unavailable to an sub axis of linear interpolation operation.	Operation	Check whether an axis was not operating as a sub axis of linear interpolation at the time of positioning speed override command.
386	Positioning speed override command is unavailable to an sub axis of synchronic operation.	Operation	Check whether an axis was not operating as a sub axis of synchronic operation at the time of positioning speed override command.
401	Inching command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of inching command.
402	Inching command is unavailable in ‘no output’ status.	Stop	Check whether an axis was not in ‘no output’ status at the time of inching command.
411	Jog start command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of jog start command.
412	Jog start command is unavailable in ‘no output’ status.	Stop	Check whether an axis was not in ‘no output’ status at the time of jog start command.
441	Start step number change/repeat operation start step number designation command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of start step number change command.
442	Start step number change/repeat operation start step number command is unavailable during operation. 1) Step = 0 2) Step > 30(80 for high end)	Stop	Check whether the step number of start step number change command or repeat operation start step number designation command is equal to or higher than 1 and lower and 30(80 for high end) or within the range.
451	Present position preset command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of present position present command.
452	Sub position data may not be set exceeding soft upper/lower limits at the time of present position preset command.	Stop	Check whether the position of present position present command was within the soft upper/lower limits.

Appendix 1 List of Error Codes
APP.1-7

Error code	Description	Operation	Countermeasures
481	emergency stop error	Stop	Remove emergency stop causes and clear the error by executing CLR command.
491	External emergency stop error	Stop	Remove emergency stop causes and clear the error with CLR command.
492	Hard upper limit error	Stop	Escape from external upper signal range by using jog command and clear the error with CLR command.
493	Hard lower limit error	Stop	Escape from external upper signal range by using jog command and clear the error with CLR command.
501	Soft upper limit error	Stop	Escape from soft upper limit range by using jog command and clear the error with CLR command.
502	Soft lower limit error	Stop	Escape from soft lower limit range by using jog command and clear the error with CLR command.
511	Direction turning error during sequential operation	Stop	Check whether the direction are turned during sequential operation.
512	Step number error during indirect start.	Stop	A step over 30 was set in a command. Re-set step number between 1 ~ 30.
513	Address error during indirect start.	Stop	Check whether it repetitively operates a step of which address is ‘0’ during indirection start.
601	PWM command is unavailable during operation.	Operation	Check whether an axis was not operating at the time of present position present command.
602	PWM command is unavailable in ‘no output’ status	Stop	Check whether an axis was not in ‘no output’ status at the time of inching command.
603	PWM Output Cycle setting error	Stop	Check whether PWM Output Cycle was set between 1 ~ 20,000.
604	PWM Off duty rate setting error	Operation / Stop	Check whether PWM Off duty rate was set between 1 ~ 100.
605	Speed override command is unavailable during PWM operation	Operation	Check whether an axis was not in PWM operation at the time of speed override command.
606	Position/speed switching command is unavailable during PWM operation	Operation	Check whether an axis was not in PWM operation at the time of position/speed switching command.

Appendix 2 Positioning Instruction and K area List
App. 2 -1
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 ~ ch5.3
(1) In case of XBC/XBM.

Instructi ons	Description	Conditions	Remark
ORG	Home starting	Slot, command axis	5.2.1
FLT	Float origin setting	Slot, command axis	5.2.2
DST	Direct starting	Slot, command axis, position, speed, dwell time, M code, control word	5.2.3
IST	Indirect starting	Slot, command axis, step no.	5.2.4
LIN	Linear interpolation starting	Slot, command axis, step no., axis information	5.2.5
SST	Simultaneous starting	Slot, command axis, X step, Y step, Z step, axis information	5.2.6
VTP	Speed/position change	Slot, command axis	5.2.7
PTV	position/speed change	Slot, command axis	5.2.8
STP	Stop	Slot, command axis, DEC. time	5.2.9
SSP	Position synchronization	Slot, command axis, step no., main axis position, main axis setting	5.2.10
SSS	Speed synchronization	Slot, command axis, synchronization rate, delay time	5.2.11
POR	Position override	Slot, command axis, position	5.2.12
SOR	Speed override	Slot, command axis, speed	5.2.13
PSO	Speed override with position	Slot, command axis, position, speed	5.2.14
INCH	Inching starting	Slot, command axis, inching amount	5.2.15
SNS	starting step no. change	Slot, command axis, step no.	5.2.16
MOF	M code cancel	Slot, command axis	5.2.17
PRS	Current position preset	Slot, command axis, position	5.2.18
EMG	EMG stop	Slot, command axis	5.2.19
CLR	Error reset, output inhabit cancel	Slot, command axis, pulse output inhabit/allowed	5.2.20
WRT	Parameter/operation data saving	Slot, command axis, storage area selection	5.2.21
PWM	Pulse width modulation	Slot, instruction axis, output cycle, off duty rate	5.2.22

Appendix 2 Positioning Instruction and K area List
App. 2 -2

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. (PWM insturction is activated at the “On” level).

(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
APM_DST	Direct starting	Req, Base, Slot, Axis, Position, speed, dwell time, M code, position/speed, absolute/incremental, ACC/DEC time	5.3.4
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
APM_SST	Simultaneous starting	Req, Base, Slot, Axis, X axis step, Y axis step, Z axis step	5.3.7
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
APM_SSP	Position synchronization	Req, Base, Slot, Axis, Step number, main axis, Main axis position	5.3.11
APM_SSSB	Speed synchronization	Req, Base, Slot, Axis, main axis, rate of sub-axis, delay time	5.3.12
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
APM_RST	Reset error, cancel output inhibition	Req, Base, Slot, Axis, Enable/Disable pulse output	5.3.21
APM_WRT	Save parameter/operation data	Req, Base, Slot, Axis, Select area to save	5.3.22
APM_PWM	Pulse width modulation	Reg, Slot, Axis, output cycle, off duty rate	5.3.23

Appendix 2 Positioning Instruction and K area List
App. 2 -3

Appendix 2.2 Positioning Dedicated K area List

Appendix 2.2.1 K area of positioning basic parameter

Item	Setting range	Initial value	Type	K area for positioning	Data size
X axis	Y axis
Positioning	0 : Not use, 1 : use	0	XBM/XBC	K4870	K5270	bit
XEC	%KX7792	%KX8432
Pulse output level	0 : Low Active, 1 : High Active	0	XBM/XBC	K4871	K5271	bit
XEC	%KX7793	%KX8433
Pulse output mode	0 : CW/CCW, 1 : PLS/DIR	0	XBM/XBC	K4873	K5273	Bit
XEC	%KX7795	%KX8435
M Code Output Mode	0 : NONE, 1 : WITH 2 : AFTER	0	XBM/XBC	K4681 K4682	K5081 K5082	2bit
XEC	%KX7489 %KX7490	%KX8129 %KX8130
Bias speed	1 ∼ 100,000[pulse/s]	1	XBM/XBC	K450	K490	Double word
XEC	%KD225	%KD245
Speed limit	1 ∼ 100,000[pulse/s]	100,000	XBM/XBC	K452	K492	Double word
XEC	%KD226	%KD246
ACC No.1	0 ~ 10,000[unit: ms]	500	XBM/XBC	K454	K494	Word
XEC	%KW454	%KW494
DEC No.1	0 ~ 10,000[unit: ms]	500	XBM/XBC	K455	K495	Word
XEC	%KW455	%KW495
ACC No.2	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K456	K496	Word
XEC	%KW456	%KW496
DEC No.2	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K457	K497	Word
XEC	%KW457	%KW497
ACC No.3	0 ~ 10,000[unit: ms]	1,500	XBM/XBC	K458	K498	Word
XEC	%KW458	%KW498
DEC No.3	0 ~ 10,000[unit: ms]	1,500	XBM/XBC	K459	K499	Word
XEC	%KW459	%KW499
ACC No.4	0 ~ 10,000[unit: ms]	2,000	XBM/XBC	K460	K500	Word
XEC	%KW460	%KW500
DEC No.5	0 ~ 10,000[unit: ms]	2,000	XBM/XBC	K461	K501	Word
XEC	%KW461	%KW501
S/W Upper Limit	-2,147,483,648 ∼ 2,147,483,647 [pulse]	2,147,483,647	XBM/XBC	K462	K502	Double word
XEC	%KD231	%KD251
S/W Lower Limit	-2,147,483,648 ∼ 2,147,483,647 [pulse]	- 2,147,483,648	XBM/XBC	K464	K504	Double word
XEC	%KD232	%KD252
Backlash Compensation	0 ∼ 65,535[pulse]	0	XBM/XBC	K466	K506	Word
XEC	%KW466	%KW506
S/W Limit Detect	0 : No Detect, 1 : Detect	0	XBM/XBC	K4684	K5084	Bit
XEC	%KX7492	%KX8132
Upper/Lower limit	0 : No Detect, 1 : Detect	1	XBM/XBC	K4872	K5272	Bit
XEC	%KX7794	%KX8434

Appendix 2 Positioning Instruction and K area List
App. 2 -4
Appendix 2.2.2 K area of positioning home parameter

Item	Setting range	Initial value	Type	Dedicated K area	Data size
X axis	Y axis
Home Method	0 ~2	0	XBM/XBC	K4780 K4781	K5180 K5181	Bit
XEC	%KX7648 %KX7649	%KX8288 %KX8289
Home Direction	0 : CW, 1 : CCW	1	XBM/XBC	K4782	K5182	Bit
XEC	%KX7650	%KX8290
Home Address	-2,147,483,648∼ 2,147,483,647[pulse]	0	XBM/XBC	K469	K509	Double word
XEC	%KD234	%KD254
Home High Speed	1 ∼ 100,000[pulse/s]	5,000	XBM/XBC	K471	K511	Double word
XEC	%KD235	%KD255
Home Low Speed	1 ∼ 100,000[pulse/s]	500	XBM/XBC	K473	K513	Double word
XEC	%KD236	%KD256
Homing ACC Time	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K475	K515	Word
XEC	%KW475	%KW515
Homing DEC Time	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K476	K516	Word
XEC	%KW476	%KW516
DWELL Time	0 ~ 50,000[unit: ms]	0	XBM/XBC	K477	K517	Word
XEC	%KW477	%KW517
JOG High Speed	1 ∼ 100,000[pulse/s]	5,000	XBM/XBC	K479	K519	Double word
XEC	%KD239	%KD259
JOG Low Speed	1 ∼ 100,000[pulse/s]	1,000	XBM/XBC	K481	K521	Double word
XEC	%KD240	%KD260
JOG ACC Time	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K483	K523	Word
XEC	%KW483	%KW523
JOG DEC Time	0 ~ 10,000[unit: ms]	1,000	XBM/XBC	K484	K524	Word
XEC	%KW484	%KW524
Inching Speed	1 ∼ 65,535[pulse/s]	100	XBM/XBC	K485	K525	Word
XEC	%KW485	%KW525

Appendix 2 Positioning Instruction and K area List
App. 2 -5
Appendix 2.2.3 Positioning operation data K area

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
1	Coord.	0 : ABS, 1 : INC	ABS	K5484	K8484	Bit
%KX8772	%KX13572
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5482~83	K8482~83	Bit
%KX8770~71	%KX13570~71
Control	0 : POS, 1 : SPD	POS	K5481	K8481	Bit
%KX8769	%KX13569
Method	0 : SIN, 1 : REP	SIN	K5480	K8480	Bit
%KX8768	%KX13568
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K549	K849	Word
%KW549	%KW849
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K540	K840	Double word
%KD270	%KD420
M Code	0 ~ 65,535	0	K547	K847	Word
%KW547	%KW847
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5486~87	K8486~87	Bit
%KX8774~75	%KX13574~75
Speed	1 ∼ 100,000[pulse/s]	0	K544	K844	Double word
%KD272	%KD422
Dwell	0 ~ 50,000[unit:㎳]	0	K546	K846	Word
%KW546	%KW846

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
2	Coord.	0 : ABS, 1 : INC	ABS	K5484	K8484	Bit
%KX8772	%KX13572
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5482~83	K8482~83	Bit
%KX8770~71	%KX13570~71
Control	0 : POS, 1 : SPD	POS	K5481	K8481	Bit
%KX8769	%KX13569
Method	0 : SIN, 1 : REP	SIN	K5480	K8480	Bit
%KX8768	%KX13568
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K549	K849	Word
%KW549	%KW849
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K540	K840	Double word
%KD270	%KD420
M Code	0 ~ 65,535	0	K547	K847	Word
%KW547	%KW847
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5486~87	K8486~87	Bit
%KX8774~75	%KX13574~75
Speed	1 ∼ 100,000[pulse/s]	0	K544	K844	Double word
%KD272	%KD422
Dwell	0 ~ 50,000[unit:㎳]	0	K546	K846	Word
%KW546	%KW846

Appendix 2 Positioning Instruction and K area List
App. 2 -6

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
3	Coord.	0 : ABS, 1 : INC	ABS	K5584	K8584	Bit
%KX8932	%KX13732
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5582~83	K8582~83	Bit
%KX8930~31	%KX13730~31
Control	0 : POS, 1 : SPD	POS	K5581	K8581	Bit
%KX8929	%KX13729
Method	0 : SIN, 1 : REP	SIN	K5580	K8580	Bit
%KX8928	%KX13728
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K559	K859	Word
%KW559	%KW859
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K550	K850	Double word
%KD275	%KD425
M Code	0 ~ 65,535	0	K557	K857	Word
%KW557	%KW857
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5586~87	K8586~87	Bit
%KX8934~35	%KX13734~35
Speed	1 ∼ 100,000[pulse/s]	0	K554	K854	Double word
%KD277	%KD427
Dwell	0 ~ 50,000[unit:㎳]	0	K556	K856	Word
%KW556	%KW856

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
4	Coord.	0 : ABS, 1 : INC	ABS	K5684	K8684	Bit
%KX9092	%KX13892
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5682~83	K8682~83	Bit
%KX9090~91	%KX13890~91
Control	0 : POS, 1 : SPD	POS	K5681	K8681	Bit
%KX9089	%KX13889
Method	0 : SIN, 1 : REP	SIN	K5680	K8680	Bit
%KX9088	%KX13888
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K569	K869	Word
%KW569	%KW869
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K560	K860	Double word
%KD280	%KD430
M Code	0 ~ 65,535	0	K567	K867	Word
%KW567	%KW867
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5686~87	K8686~87	Bit
%KX9094~95	%KX13894~95
Speed	1 ∼ 100,000[pulse/s]	0	K564	K864	Double word
%KD282	%KD432
Dwell	0 ~ 50,000[unit:㎳]	0	K566	K866	Word
%KW566	%KW866

Appendix 2 Positioning Instruction and K area List
App. 2 -7

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
5	Coord.	0 : ABS, 1 : INC	ABS	K5784	K8784	Bit
%KX9252	%KX14052
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5782~83	K8782~83	Bit
%KX9250~51	%KX14050~51
Control	0 : POS, 1 : SPD	POS	K5781	K8781	Bit
%KX9249	%KX14049
Method	0 : SIN, 1 : REP	SIN	K5780	K8780	Bit
%KX9248	%KX14048
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K579	K879	Word
%KW579	%KW879
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K570	K870	Double word
%KD285	%KD435
M Code	0 ~ 65,535	0	K577	K877	Word
%KW577	%KW877
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5786~87	K8786~87	Bit
%KX9254~55	%KX14054~55
Speed	1 ∼ 100,000[pulse/s]	0	K574	K874	Double word
%KD287	%KD437
Dwell	0 ~ 50,000[unit:㎳]	0	K576	K876	Word
%KW576	%KW876

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
6	Coord.	0 : ABS, 1 : INC	ABS	K5884	K8884	Bit
%KX9412	%KX14212
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5882~83	K8882~83	Bit
%KX9410~11	%KX14210~11
Control	0 : POS, 1 : SPD	POS	K5881	K8881	Bit
%KX9409	%KX14209
Method	0 : SIN, 1 : REP	SIN	K5880	K8880	Bit
%KX9408	%KX14208
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K589	K889	Word
%KW589	%KW889
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K580	K880	Double word
%KD290	%KD440
M Code	0 ~ 65,535	0	K587	K887	Word
%KW587	%KW887
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5886~87	K8886~87	Bit
%KX9414~15	%KX14214~15
Speed	1 ∼ 100,000[pulse/s]	0	K584	K884	Double word
%KD292	%KD442
Dwell	0 ~ 50,000[unit:㎳]	0	K586	K886	Word
%KW586	%KW886

Appendix 2 Positioning Instruction and K area List
App. 2 -8

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
7	Coord.	0 : ABS, 1 : INC	ABS	K5984	K8984	Bit
%KX9572	%KX14372
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K5982~83	K8982~83	Bit
%KX9570~71	%KX14370~71
Control	0 : POS, 1 : SPD	POS	K5981	K8981	Bit
%KX9569	%KX14369
Method	0 : SIN, 1 : REP	SIN	K5980	K8980	Bit
%KX9568	%KX14368
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K599	K899	Word
%KW599	%KW899
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K590	K890	Double word
%KD295	%KD445
M Code	0 ~ 65,535	0	K597	K897	Word
%KW597	%KW897
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K5986~87	K8986~87	Bit
%KX9574~75	%KX14374~75
Speed	1 ∼ 100,000[pulse/s]	0	K594	K894	Double word
%KD297	%KD447
Dwell	0 ~ 50,000[unit:㎳]	0	K596	K896	Word
%KW596	%KW896

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
8	Coord.	0 : ABS, 1 : INC	ABS	K6084	K9084	Bit
%KX9732	%KX14532
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6082~83	K9082~83	Bit
%KX9730~31	%KX14530~31
Control	0 : POS, 1 : SPD	POS	K6081	K9081	Bit
%KX9729	%KX14529
Method	0 : SIN, 1 : REP	SIN	K6080	K9080	Bit
%KX9728	%KX14528
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K609	K909	Word
%KW609	%KW909
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K600	K900	Double word
%KD300	%KD450
M Code	0 ~ 65,535	0	K607	K907	Word
%KW607	%KW907
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6086~87	K9086~87	Bit
%KX9734~35	%KX14534~35
Speed	1 ∼ 100,000[pulse/s]	0	K604	K904	Double word
%KD302	%KD452
Dwell	0 ~ 50,000[unit:㎳]	0	K606	K906	Word
%KW606	%KW906

Appendix 2 Positioning Instruction and K area List
App. 2 -9

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
9	Coord.	0 : ABS, 1 : INC	ABS	K6184	K9184	Bit
%KX9892	%KX14692
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6182~83	K9182~83	Bit
%KX9890~91	%KX14690~91
Control	0 : POS, 1 : SPD	POS	K6181	K9181	Bit
%KX9889	%KX14689
Method	0 : SIN, 1 : REP	SIN	K6180	K9180	Bit
%KX9888	%KX14688
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K619	K919	Word
%KW619	%KW919
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K610	K910	Double word
%KD305	%KD455
M Code	0 ~ 65,535	0	K617	K917	Word
%KW617	%KW917
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6186~87	K9186~87	Bit
%KX9894~95	%KX14694~95
Speed	1 ∼ 100,000[pulse/s]	0	K614	K914	Double word
%KD307	%KD457
Dwell	0 ~ 50,000[unit:㎳]	0	K616	K916	Word
%KW616	%KW916

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
10	Coord.	0 : ABS, 1 : INC	ABS	K6284	K9284	Bit
%KX10052	%KX14852
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6282~83	K9282~83	Bit
%KX10050~51	%KX14850~51
Control	0 : POS, 1 : SPD	POS	K6281	K9281	Bit
%KX10049	%KX14849
Method	0 : SIN, 1 : REP	SIN	K6280	K9280	Bit
%KX10048	%KX14848
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K629	K929	Word
%KW629	%KW929
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K620	K920	Double word
%KD310	%KD460
M Code	0 ~ 65,535	0	K627	K927	Word
%KW627	%KW927
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6286~87	K9286~87	Bit
%KX10054~55	%KX14854~55
Speed	1 ∼ 100,000[pulse/s]	0	K624	K924	Double word
%KD312	%KD462
Dwell	0 ~ 50,000[unit:㎳]	0	K626	K926	Word
%KW626	%KW926

Appendix 2 Positioning Instruction and K area List
App. 2 -10

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
11	Coord.	0 : ABS, 1 : INC	ABS	K6384	K9384	Bit
%KX10212	%KX15012
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6382~83	K9382~83	Bit
%KX10210~11	%KX15010~11
Control	0 : POS, 1 : SPD	POS	K6381	K9381	Bit
%KX10209	%KX15009
Method	0 : SIN, 1 : REP	SIN	K6380	K9380	Bit
%KX10208	%KX15008
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K639	K939	Word
%KW639	%KW939
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K630	K930	Double word
%KD315	%KD465
M Code	0 ~ 65,535	0	K637	K937	Word
%KW637	%KW937
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6386~87	K9386~87	Bit
%KX10214~15	%KX15014~15
Speed	1 ∼ 100,000[pulse/s]	0	K634	K934	Double word
%KD317	%KD467
Dwell	0 ~ 50,000[unit:㎳]	0	K636	K936	Word
%KW636	%KW936

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
12	Coord.	0 : ABS, 1 : INC	ABS	K6484	K9484	Bit
%KX10372	%KX15172
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6482~83	K9482~83	Bit
%KX10370~71	%KX15170~71
Control	0 : POS, 1 : SPD	POS	K6481	K9481	Bit
%KX10369	%KX15169
Method	0 : SIN, 1 : REP	SIN	K6480	K9480	Bit
%KX10368	%KX15168
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K649	K949	Word
%KW649	%KW949
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K640	K940	Double word
%KD320	%KD470
M Code	0 ~ 65,535	0	K647	K947	Word
%KW647	%KW947
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6486~87	K9486~87	Bit
%KX10374~75	%KX15174~75
Speed	1 ∼ 100,000[pulse/s]	0	K644	K944	Double word
%KD322	%KD472
Dwell	0 ~ 50,000[unit:㎳]	0	K646	K946	Word
%KW646	%KW946

Appendix 2 Positioning Instruction and K area List
App. 2 -11

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
13	Coord.	0 : ABS, 1 : INC	ABS	K6584	K9584	Bit
%KX10532	%KX15332
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6582~83	K9582~83	Bit
%KX10530~31	%KX15330~31
Control	0 : POS, 1 : SPD	POS	K6581	K9581	Bit
%KX10529	%KX15329
Method	0 : SIN, 1 : REP	SIN	K6580	K9580	Bit
%KX10528	%KX15328
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K659	K959	Word
%KW659	%KW959
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K650	K950	Double word
%KD325	%KD475
M Code	0 ~ 65,535	0	K657	K957	Word
%KW657	%KW957
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6586~87	K9586~87	Bit
%KX10534~35	%KX15334~35
Speed	1 ∼ 100,000[pulse/s]	0	K654	K954	Double word
%KD327	%KD477
Dwell	0 ~ 50,000[unit:㎳]	0	K656	K956	Word
%KW656	%KW956

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
14	Coord.	0 : ABS, 1 : INC	ABS	K6684	K9684	Bit
%KX10692	%KX15492
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6682~83	K9682~83	Bit
%KX10690~91	%KX15490~91
Control	0 : POS, 1 : SPD	POS	K6681	K9681	Bit
%KX10689	%KX15489
Method	0 : SIN, 1 : REP	SIN	K6680	K9680	Bit
%KX10688	%KX15488
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K669	K969	Word
%KW669	%KW969
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K660	K960	Double word
%KD330	%KD480
M Code	0 ~ 65,535	0	K667	K967	Word
%KW667	%KW967
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6686~87	K9686~87	Bit
%KX10694~95	%KX15494~95
Speed	1 ∼ 100,000[pulse/s]	0	K664	K964	Double word
%KD332	%KD482
Dwell	0 ~ 50,000[unit:㎳]	0	K666	K966	Word
%KW666	%KW966

Appendix 2 Positioning Instruction and K area List
App. 2 -12

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
15	Coord.	0 : ABS, 1 : INC	ABS	K6784	K9784	Bit
%KX10852	%KX15652
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6782~83	K9782~83	Bit
%KX10850~51	%KX15650~51
Control	0 : POS, 1 : SPD	POS	K6781	K9781	Bit
%KX10849	%KX15649
Method	0 : SIN, 1 : REP	SIN	K6780	K9780	Bit
%KX10848	%KX15648
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K679	K979	Word
%KW679	%KW979
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K670	K970	Double word
%KD335	%KD485
M Code	0 ~ 65,535	0	K677	K977	Word
%KW677	%KW977
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6786~87	K9786~87	Bit
%KX10854~55	%KX15654~55
Speed	1 ∼ 100,000[pulse/s]	0	K674	K974	Double word
%KD337	%KD487
Dwell	0 ~ 50,000[unit:㎳]	0	K676	K976	Word
%KW676	%KW976

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
16	Coord.	0 : ABS, 1 : INC	ABS	K6884	K9884	Bit
%KX11012	%KX15812
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6882~83	K9882~83	Bit
%KX11010~11	%KX15810~11
Control	0 : POS, 1 : SPD	POS	K6881	K9881	Bit
%KX11009	%KX15809
Method	0 : SIN, 1 : REP	SIN	K6880	K9880	Bit
%KX11008	%KX15808
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K689	K989	Word
%KW689	%KW989
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K680	K980	Double word
%KD340	%KD490
M Code	0 ~ 65,535	0	K687	K987	Word
%KW687	%KW987
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6886~87	K9886~87	Bit
%KX11014~15	%KX15814~15
Speed	1 ∼ 100,000[pulse/s]	0	K684	K984	Double word
%KD342	%KD492
Dwell	0 ~ 50,000[unit:㎳]	0	K686	K986	Word
%KW686	%KW986

Appendix 2 Positioning Instruction and K area List
App. 2 -13

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
17	Coord.	0 : ABS, 1 : INC	ABS	K6984	K9984	Bit
%KX11172	%KX15972
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K6982~83	K9982~83	Bit
%KX11170~71	%KX15970~71
Control	0 : POS, 1 : SPD	POS	K6981	K9981	Bit
%KX11169	%KX15969
Method	0 : SIN, 1 : REP	SIN	K6980	K9980	Bit
%KX11168	%KX15968
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K699	K999	Word
%KW699	%KW999
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K690	K990	Double word
%KD345	%KD495
M Code	0 ~ 65,535	0	K697	K997	Word
%KW697	%KW997
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K6986~87	K9986~87	Bit
%KX11174~75	%KX15974~75
Speed	1 ∼ 100,000[pulse/s]	0	K694	K994	Double word
%KD347	%KD497
Dwell	0 ~ 50,000[unit:㎳]	0	K696	K996	Word
%KW696	%KW996

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
18	Coord.	0 : ABS, 1 : INC	ABS	K7084	K10084	Bit
%KX11332	%KX16132
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7082~83	K10082~83	Bit
%KX11330~31	%KX16130~31
Control	0 : POS, 1 : SPD	POS	K7081	K10081	Bit
%KX11329	%KX16129
Method	0 : SIN, 1 : REP	SIN	K7080	K10080	Bit
%KX11328	%KX16128
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K709	K1009	Word
%KW709	%KW1009
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K700	K1000	Double word
%KD350	%KD500
M Code	0 ~ 65,535	0	K707	K1007	Word
%KW707	%KW1007
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7086~87	K10086~87	Bit
%KX11334~35	%KX16134~35
Speed	1 ∼ 100,000[pulse/s]	0	K704	K1004	Double word
%KD352	%KD502
Dwell	0 ~ 50,000[unit:㎳]	0	K706	K1006	Word
%KW706	%KW1006

Appendix 2 Positioning Instruction and K area List
App. 2 -14

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
19	Coord.	0 : ABS, 1 : INC	ABS	K7184	K10184	Bit
%KX11492	%KX16292
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7182~83	K10182~83	Bit
%KX11490~91	%KX16290~91
Control	0 : POS, 1 : SPD	POS	K7181	K10181	Bit
%KX11489	%KX16289
Method	0 : SIN, 1 : REP	SIN	K7180	K10180	Bit
%KX11488	%KX16288
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K719	K1019	Word
%KW719	%KW1019
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K710	K1010	Double word
%KD355	%KD505
M Code	0 ~ 65,535	0	K717	K1017	Word
%KW717	%KW1017
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7186~87	K10186~87	Bit
%KX11494~95	%KX16294~95
Speed	1 ∼ 100,000[pulse/s]	0	K714	K1014	Double word
%KD357	%KD507
Dwell	0 ~ 50,000[unit:㎳]	0	K716	K1016	Word
%KW716	%KW1016

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
20	Coord.	0 : ABS, 1 : INC	ABS	K7284	K10284	Bit
%KX11652	%KX16452
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7282~83	K10282~83	Bit
%KX11650~51	%KX16450~51
Control	0 : POS, 1 : SPD	POS	K7281	K10281	Bit
%KX11649	%KX16449
Method	0 : SIN, 1 : REP	SIN	K7280	K10280	Bit
%KX11648	%KX16448
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K729	K1029	Word
%KW729	%KW1029
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K720	K1020	Double word
%KD360	%KD510
M Code	0 ~ 65,535	0	K727	K1027	Word
%KW727	%KW1027
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7286~87	K10286~87	Bit
%KX11654~55	%KX16454~55
Speed	1 ∼ 100,000[pulse/s]	0	K724	K1024	Double word
%KD362	%KD512
Dwell	0 ~ 50,000[unit:㎳]	0	K726	K1026	Word
%KW726	%KW1026

Appendix 2 Positioning Instruction and K area List
App. 2 -15

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
21	Coord.	0 : ABS, 1 : INC	ABS	K7384	K10384	Bit
%KX11812	%KX16612
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7382~83	K10382~83	Bit
%KX11810~11	%KX16610~11
Control	0 : POS, 1 : SPD	POS	K7381	K10381	Bit
%KX11809	%KX16609
Method	0 : SIN, 1 : REP	SIN	K7380	K10380	Bit
%KX11808	%KX16608
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K739	K1039	Word
%KW739	%KW1039
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K730	K1030	Double word
%KD365	%KD515
M Code	0 ~ 65,535	0	K737	K1037	Word
%KW737	%KW1037
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7386~87	K10386~87	Bit
%KX11814~15	%KX16614~15
Speed	1 ∼ 100,000[pulse/s]	0	K734	K1034	Double word
%KD367	%KD517
Dwell	0 ~ 50,000[unit:㎳]	0	K736	K1036	Word
%KW736	%KW1036

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
22	Coord.	0 : ABS, 1 : INC	ABS	K7484	K10484	Bit
%KX11972	%KX16772
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7482~83	K10482~83	Bit
%KX11970~71	%KX16770~71
Control	0 : POS, 1 : SPD	POS	K7481	K10481	Bit
%KX11969	%KX16769
Method	0 : SIN, 1 : REP	SIN	K7480	K10480	Bit
%KX11968	%KX16768
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K749	K1049	Word
%KW749	%KW1049
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K740	K1040	Double word
%KD370	%KD520
M Code	0 ~ 65,535	0	K747	K1047	Word
%KW747	%KW1047
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7486~87	K10486~87	Bit
%KX11974~75	%KX16774~75
Speed	1 ∼ 100,000[pulse/s]	0	K744	K1044	Double word
%KD372	%KD522
Dwell	0 ~ 50,000[unit:㎳]	0	K746	K1046	Word
%KW746	%KW1046

Appendix 2 Positioning Instruction and K area List
App. 2 -16

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
23	Coord.	0 : ABS, 1 : INC	ABS	K7584	K10584	Bit
%KX12132	%KX16932
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7582~83	K10582~83	Bit
%KX12130~31	%KX16930~31
Control	0 : POS, 1 : SPD	POS	K7581	K10581	Bit
%KX12129	%KX16929
Method	0 : SIN, 1 : REP	SIN	K7580	K10580	Bit
%KX12128	%KX16928
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K759	K1059	Word
%KW759	%KW1059
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K750	K1050	Double word
%KD375	%KD525
M Code	0 ~ 65,535	0	K757	K1057	Word
%KW757	%KW1057
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7586~87	K10586~87	Bit
%KX12134~35	%KX16934~35
Speed	1 ∼ 100,000[pulse/s]	0	K754	K1054	Double word
%KD377	%KD527
Dwell	0 ~ 50,000[unit:㎳]	0	K756	K1056	Word
%KW756	%KW1056

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
24	Coord.	0 : ABS, 1 : INC	ABS	K7684	K10684	Bit
%KX12292	%KX17092
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7682~83	K10682~83	Bit
%KX12290~91	%KX17090~91
Control	0 : POS, 1 : SPD	POS	K7681	K10681	Bit
%KX12289	%KX17089
Method	0 : SIN, 1 : REP	SIN	K7680	K10680	Bit
%KX12288	%KX17088
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K769	K1069	Word
%KW769	%KW1069
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K760	K1060	Double word
%KD380	%KD530
M Code	0 ~ 65,535	0	K767	K1067	Word
%KW767	%KW1067
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7686~87	K10686~87	Bit
%KX12294~95	%KX17094~95
Speed	1 ∼ 100,000[pulse/s]	0	K764	K1064	Double word
%KD382	%KD532
Dwell	0 ~ 50,000[unit:㎳]	0	K766	K1066	Word
%KW766	%KW1066

Appendix 2 Positioning Instruction and K area List
App. 2 -17

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
25	Coord.	0 : ABS, 1 : INC	ABS	K7784	K10784	Bit
%KX12452	%KX17252
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7782~83	K10782~83	Bit
%KX12450~51	%KX17250~51
Control	0 : POS, 1 : SPD	POS	K7781	K10781	Bit
%KX12449	%KX17249
Method	0 : SIN, 1 : REP	SIN	K7780	K10780	Bit
%KX12448	%KX17248
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K779	K1079	Word
%KW779	%KW1079
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K770	K1070	Double word
%KD385	%KD535
M Code	0 ~ 65,535	0	K777	K1077	Word
%KW777	%KW1077
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7786~87	K10786~87	Bit
%KX12454~55	%KX17254~55
Speed	1 ∼ 100,000[pulse/s]	0	K774	K1074	Double word
%KD387	%KD537
Dwell	0 ~ 50,000[unit:㎳]	0	K776	K1076	Word
%KW776	%KW1076

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
26	Coord.	0 : ABS, 1 : INC	ABS	K7884	K10884	Bit
%KX12612	%KX17412
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7882~83	K10882~83	Bit
%KX12610~11	%KX17410~11
Control	0 : POS, 1 : SPD	POS	K7881	K10881	Bit
%KX12609	%KX17409
Method	0 : SIN, 1 : REP	SIN	K7880	K10880	Bit
%KX12608	%KX17408
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K789	K1089	Word
%KW789	%KW1089
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K780	K1080	Double word
%KD390	%KD540
M Code	0 ~ 65,535	0	K787	K1087	Word
%KW787	%KW1087
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7886~87	K10886~87	Bit
%KX12614~15	%KX17414~15
Speed	1 ∼ 100,000[pulse/s]	0	K784	K1084	Double word
%KD392	%KD542
Dwell	0 ~ 50,000[unit:㎳]	0	K786	K1086	Word
%KW786	%KW1086

Appendix 2 Positioning Instruction and K area List
App. 2 -18

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
27	Coord.	0 : ABS, 1 : INC	ABS	K7984	K10984	Bit
%KX12772	%KX17572
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K7982~83	K10982~83	Bit
%KX12770~71	%KX17570~71
Control	0 : POS, 1 : SPD	POS	K7981	K10981	Bit
%KX12769	%KX17569
Method	0 : SIN, 1 : REP	SIN	K7980	K10980	Bit
%KX12768	%KX17568
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K799	K1099	Word
%KW799	%KW1099
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K790	K1090	Double word
%KD395	%KD545
M Code	0 ~ 65,535	0	K797	K1097	Word
%KW797	%KW1097
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K7986~87	K10986~87	Bit
%KX12774~75	%KX17574~75
Speed	1 ∼ 100,000[pulse/s]	0	K794	K1094	Double word
%KD397	%KD547
Dwell	0 ~ 50,000[unit:㎳]	0	K796	K1096	Word
%KW796	%KW1096

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
28	Coord.	0 : ABS, 1 : INC	ABS	K8084	K11084	Bit
%KX12932	%KX17732
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K8082~83	K11082~83	Bit
%KX12930~31	%KX17730~31
Control	0 : POS, 1 : SPD	POS	K8081	K11081	Bit
%KX12929	%KX17729
Method	0 : SIN, 1 : REP	SIN	K8080	K11080	Bit
%KX12928	%KX17728
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K809	K1109	Word
%KW809	%KW1109
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K800	K1100	Double word
%KD400	%KD550
M Code	0 ~ 65,535	0	K807	K1107	Word
%KW807	%KW1107
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K8086~87	K11086~87	Bit
%KX12934~35	%KX17734~35
Speed	1 ∼ 100,000[pulse/s]	0	K804	K1104	Double word
%KD402	%KD552
Dwell	0 ~ 50,000[unit:㎳]	0	K806	K1106	Word
%KW806	%KW1106

Appendix 2 Positioning Instruction and K area List
App. 2 -19

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
29	Coord.	0 : ABS, 1 : INC	ABS	K8184	K11184	Bit
%KX13092	%KX17892
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K8182~83	K11182~83	Bit
%KX13090~91	%KX17890~91
Control	0 : POS, 1 : SPD	POS	K8181	K11181	Bit
%KX13089	%KX17889
Method	0 : SIN, 1 : REP	SIN	K8180	K11180	Bit
%KX13088	%KX17888
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K819	K1119	Word
%KW819	%KW1119
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K810	K1110	Double word
%KD405	%KD555
M Code	0 ~ 65,535	0	K817	K1117	Word
%KW817	%KW1117
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K8186~87	K11186~87	Bit
%KX13094~95	%KX17894~95
Speed	1 ∼ 100,000[pulse/s]	0	K814	K1114	Double word
%KD407	%KD557
Dwell	0 ~ 50,000[unit:㎳]	0	K816	K1116	Word
%KW816	%KW1116

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
30	Coord.	0 : ABS, 1 : INC	ABS	K8284	K11284	Bit
%KX13252	%KX18052
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K8282~83	K11282~83	Bit
%KX13250~51	%KX18050~51
Control	0 : POS, 1 : SPD	POS	K8281	K11281	Bit
%KX13249	%KX18049
Method	0 : SIN, 1 : REP	SIN	K8280	K11280	Bit
%KX13248	%KX18048
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K829	K1129	Word
%KW829	%KW1129
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K820	K1120	Double word
%KD410	%KD560
M Code	0 ~ 65,535	0	K827	K1127	Word
%KW827	%KW1127
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K8286~87	K11286~87	Bit
%KX13254~55	%KX18054~55
Speed	1 ∼ 100,000[pulse/s]	0	K824	K1124	Double word
%KD412	%KD562
Dwell	0 ~ 50,000[unit:㎳]	0	K826	K1126	Word
%KW826	%KW1126

Appendix 2 Positioning Instruction and K area List
App. 2 -20
• Operation step 31~80 is available for only high end type (H type).

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
31	Coord.	0 : ABS, 1 : INC	ABS	K23484	K28484	Bit
%KX37572	%KX45572
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23482~83	K28482~83	Bit
%KX37570~71	%KX45570~71
Control	0 : POS, 1 : SPD	POS	K23481	K28481	Bit
%KX37569	%KX45569
Method	0 : SIN, 1 : REP	SIN	K23480	K28480	Bit
%KX37568	%KX45568
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2349	K2849	Word
%KW2349	%KW2849
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2340	K2840	Double word
%KD1170	%KD1420
M Code	0 ~ 65,535	0	K2347	K2847	Word
%KW2347	%KW2847
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23486~87	K28486~87	Bit
%KX37574~75	%KX45574~75
Speed	1 ∼ 100,000[pulse/s]	0	K2344	K2844	Double word
%KD1172	%KD1422
Dwell	0 ~ 50,000[unit:㎳]	0	K2346	K2846	Word
%KW2346	%KW2846

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
32	Coord.	0 : ABS, 1 : INC	ABS	K23584	K28584	Bit
%KX37732	%KX45732
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23582~83	K28582~83	Bit
%KX37730~31	%KX45730~31
Control	0 : POS, 1 : SPD	POS	K23581	K28581	Bit
%KX37729	%KX45729
Method	0 : SIN, 1 : REP	SIN	K23580	K28580	Bit
%KX37728	%KX45728
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2359	K2859	Word
%KW2359	%KW2859
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2350	K2850	Double word
%KD1175	%KD1425
M Code	0 ~ 65,535	0	K2357	K2857	Word
%KW2357	%KW2857
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23586~87	K28586~87	Bit
%KX37734~35	%KX45734~35
Speed	1 ∼ 100,000[pulse/s]	0	K2354	K2854	Double word
%KD1177	%KD1427
Dwell	0 ~ 50,000[unit:㎳]	0	K2356	K2856	Word
%KW2356	%KW2856

Appendix 2 Positioning Instruction and K area List
App. 2 -21

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
33	Coord.	0 : ABS, 1 : INC	ABS	K23684	K28684	Bit
%KX37892	%KX45892
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23682~83	K28682~83	Bit
%KX37890~91	%KX45890~91
Control	0 : POS, 1 : SPD	POS	K23681	K28681	Bit
%KX37889	%KX45889
Method	0 : SIN, 1 : REP	SIN	K23680	K28680	Bit
%KX37888	%KX45888
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2369	K2869	Word
%KW2369	%KW2869
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2360	K2860	Double word
%KD1180	%KD1430
M Code	0 ~ 65,535	0	K2367	K2867	Word
%KW2367	%KW2867
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23686~87	K28686~87	Bit
%KX37894~95	%KX45894~95
Speed	1 ∼ 100,000[pulse/s]	0	K2364	K2864	Double word
%KD1182	%KD1432
Dwell	0 ~ 50,000[unit:㎳]	0	K2366	K2866	Word
%KW2366	%KW2866

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
34	Coord.	0 : ABS, 1 : INC	ABS	K23784	K28784	Bit
%KX38052	%KX46052
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23782~83	K28782~83	Bit
%KX38050~51	%KX46050~51
Control	0 : POS, 1 : SPD	POS	K23781	K28781	Bit
%KX38049	%KX46049
Method	0 : SIN, 1 : REP	SIN	K23780	K28780	Bit
%KX38048	%KX46048
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2379	K2879	Word
%KW2379	%KW2879
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2370	K2870	Double word
%KD1185	%KD1435
M Code	0 ~ 65,535	0	K2377	K2877	Word
%KW2377	%KW2877
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23786~87	K28786~87	Bit
%KX38054~55	%KX46054~55
Speed	1 ∼ 100,000[pulse/s]	0	K2374	K2874	Double word
%KD1187	%KD1437
Dwell	0 ~ 50,000[unit:㎳]	0	K2376	K2876	Word
%KW2376	%KW2876

Appendix 2 Positioning Instruction and K area List
App. 2 -22

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
35	Coord.	0 : ABS, 1 : INC	ABS	K23884	K28884	Bit
%KX38212	%KX46212
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23882~83	K28882~83	Bit
%KX38210~11	%KX46210~11
Control	0 : POS, 1 : SPD	POS	K23881	K28881	Bit
%KX38209	%KX46209
Method	0 : SIN, 1 : REP	SIN	K23880	K28880	Bit
%KX38208	%KX46208
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2389	K2889	Word
%KW2389	%KW2889
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2380	K2880	Double word
%KD1190	%KD1440
M Code	0 ~ 65,535	0	K2387	K2887	Word
%KW2387	%KW2887
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23886~87	K28886~87	Bit
%KX38214~15	%KX46214~15
Speed	1 ∼ 100,000[pulse/s]	0	K2384	K2884	Double word
%KD1192	%KD1442
Dwell	0 ~ 50,000[unit:㎳]	0	K2386	K2886	Word
%KW2386	%KW2886

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
36	Coord.	0 : ABS, 1 : INC	ABS	K23984	K28984	Bit
%KX38372	%KX46372
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K23982~83	K28982~83	Bit
%KX38370~71	%KX46370~71
Control	0 : POS, 1 : SPD	POS	K23981	K28981	Bit
%KX38369	%KX46369
Method	0 : SIN, 1 : REP	SIN	K23980	K28980	Bit
%KX38368	%KX46368
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2399	K2899	Word
%KW2399	%KW2899
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2390	K2890	Double word
%KD1195	%KD1445
M Code	0 ~ 65,535	0	K2397	K2897	Word
%KW2397	%KW2897
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K23986~87	K28986~87	Bit
%KX38374~75	%KX46374~75
Speed	1 ∼ 100,000[pulse/s]	0	K2394	K2894	Double word
%KD1197	%KD1447
Dwell	0 ~ 50,000[unit:㎳]	0	K2396	K2896	Word
%KW2396	%KW2896

Appendix 2 Positioning Instruction and K area List
App. 2 -23

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
37	Coord.	0 : ABS, 1 : INC	ABS	K24084	K29084	Bit
%KX38532	%KX46532
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24082~83	K29082~83	Bit
%KX38530~31	%KX46530~31
Control	0 : POS, 1 : SPD	POS	K24081	K29081	Bit
%KX38529	%KX46529
Method	0 : SIN, 1 : REP	SIN	K24080	K29080	Bit
%KX38528	%KX46528
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2409	K2909	Word
%KW2409	%KW2909
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2400	K2900	Double word
%KD1200	%KD1450
M Code	0 ~ 65,535	0	K2407	K2907	Word
%KW2407	%KW2907
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24086~87	K29086~87	Bit
%KX38534~35	%KX46534~35
Speed	1 ∼ 100,000[pulse/s]	0	K2404	K2904	Double word
%KD1202	%KD1452
Dwell	0 ~ 50,000[unit:㎳]	0	K2406	K2906	Word
%KW2406	%KW2906

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
38	Coord.	0 : ABS, 1 : INC	ABS	K24184	K29184	Bit
%KX38692	%KX46692
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24182~83	K29182~83	Bit
%KX38690~91	%KX46690~91
Control	0 : POS, 1 : SPD	POS	K24181	K29181	Bit
%KX38689	%KX46689
Method	0 : SIN, 1 : REP	SIN	K24180	K29180	Bit
%KX38688	%KX46688
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2419	K2919	Word
%KW2419	%KW2919
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2410	K2910	Double word
%KD1205	%KD1455
M Code	0 ~ 65,535	0	K2417	K2917	Word
%KW2417	%KW2917
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24186~87	K29186~87	Bit
%KX38694~95	%KX46694~95
Speed	1 ∼ 100,000[pulse/s]	0	K2414	K2914	Double word
%KD1207	%KD1457
Dwell	0 ~ 50,000[unit:㎳]	0	K2416	K2916	Word
%KW2416	%KW2916

Appendix 2 Positioning Instruction and K area List
App. 2 -24

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
39	Coord.	0 : ABS, 1 : INC	ABS	K24284	K29284	Bit
%KX38852	%KX46852
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24282~83	K29282~83	Bit
%KX38850~51	%KX46850~51
Control	0 : POS, 1 : SPD	POS	K24281	K29281	Bit
%KX38849	%KX46849
Method	0 : SIN, 1 : REP	SIN	K24280	K29280	Bit
%KX38848	%KX46848
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2429	K2929	Word
%KW2429	%KW2929
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2420	K2920	Double word
%KD1210	%KD1460
M Code	0 ~ 65,535	0	K2427	K2927	Word
%KW2427	%KW2927
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24286~87	K29286~87	Bit
%KX38854~55	%KX46854~55
Speed	1 ∼ 100,000[pulse/s]	0	K2424	K2924	Double word
%KD1212	%KD1462
Dwell	0 ~ 50,000[unit:㎳]	0	K2426	K2926	Word
%KW2426	%KW2926

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
40	Coord.	0 : ABS, 1 : INC	ABS	K24384	K29384	Bit
%KX39012	%KX47012
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24382~83	K29382~83	Bit
%KX39010~11	%KX47010~11
Control	0 : POS, 1 : SPD	POS	K24381	K29381	Bit
%KX39009	%KX47009
Method	0 : SIN, 1 : REP	SIN	K24380	K29380	Bit
%KX39008	%KX47008
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2439	K2939	Word
%KW2439	%KW2939
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2430	K2930	Double word
%KD1215	%KD1465
M Code	0 ~ 65,535	0	K2437	K2937	Word
%KW2437	%KW2937
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24386~87	K29386~87	Bit
%KX39014~15	%KX47014~15
Speed	1 ∼ 100,000[pulse/s]	0	K2434	K2934	Double word
%KD1217	%KD1467
Dwell	0 ~ 50,000[unit:㎳]	0	K2436	K2936	Word
%KW2436	%KW2936

Appendix 2 Positioning Instruction and K area List
App. 2 -25

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
41	Coord.	0 : ABS, 1 : INC	ABS	K24484	K29484	Bit
%KX39172	%KX47172
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24482~83	K29482~83	Bit
%KX39170~71	%KX47170~71
Control	0 : POS, 1 : SPD	POS	K24481	K29481	Bit
%KX39169	%KX47169
Method	0 : SIN, 1 : REP	SIN	K24480	K29480	Bit
%KX39168	%KX47168
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2449	K2949	Word
%KW2449	%KW2949
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2440	K2940	Double word
%KD1220	%KD1470
M Code	0 ~ 65,535	0	K2447	K2947	Word
%KW2447	%KW2947
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24486~87	K29486~87	Bit
%KX39174~75	%KX47174~75
Speed	1 ∼ 100,000[pulse/s]	0	K2444	K2944	Double word
%KD1222	%KD1472
Dwell	0 ~ 50,000[unit:㎳]	0	K2446	K2946	Word
%KW2446	%KW2946

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
42	Coord.	0 : ABS, 1 : INC	ABS	K24584	K29584	Bit
%KX39332	%KX47332
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24582~83	K29582~83	Bit
%KX39330~31	%KX47330~31
Control	0 : POS, 1 : SPD	POS	K24581	K29581	Bit
%KX39329	%KX47329
Method	0 : SIN, 1 : REP	SIN	K24580	K29580	Bit
%KX39328	%KX47328
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2459	K2959	Word
%KW2459	%KW2959
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2450	K2950	Double word
%KD1225	%KD1475
M Code	0 ~ 65,535	0	K2457	K2957	Word
%KW2457	%KW2957
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24586~87	K29586~87	Bit
%KX39334~35	%KX47334~35
Speed	1 ∼ 100,000[pulse/s]	0	K2454	K2954	Double word
%KD1227	%KD1477
Dwell	0 ~ 50,000[unit:㎳]	0	K2456	K2956	Word
%KW2456	%KW2956

Appendix 2 Positioning Instruction and K area List
App. 2 -26

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
43	Coord.	0 : ABS, 1 : INC	ABS	K24684	K29684	Bit
%KX39492	%KX47492
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24682~83	K29682~83	Bit
%KX39490~91	%KX47490~91
Control	0 : POS, 1 : SPD	POS	K24681	K29681	Bit
%KX39489	%KX47489
Method	0 : SIN, 1 : REP	SIN	K24680	K29680	Bit
%KX39488	%KX47488
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2469	K2969	Word
%KW2469	%KW2969
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2460	K2960	Double word
%KD1230	%KD1480
M Code	0 ~ 65,535	0	K2467	K2967	Word
%KW2467	%KW2967
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24686~87	K29686~87	Bit
%KX39494~95	%KX47494~95
Speed	1 ∼ 100,000[pulse/s]	0	K2464	K2964	Double word
%KD1232	%KD1482
Dwell	0 ~ 50,000[unit:㎳]	0	K2466	K2966	Word
%KW2466	%KW2966

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
44	Coord.	0 : ABS, 1 : INC	ABS	K24784	K29784	Bit
%KX39652	%KX47652
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24782~83	K29782~83	Bit
%KX39650~51	%KX47650~51
Control	0 : POS, 1 : SPD	POS	K24781	K29781	Bit
%KX39649	%KX47649
Method	0 : SIN, 1 : REP	SIN	K24780	K29780	Bit
%KX39648	%KX47648
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2479	K2979	Word
%KW2479	%KW2979
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2470	K2970	Double word
%KD1235	%KD1485
M Code	0 ~ 65,535	0	K2477	K2977	Word
%KW2477	%KW2977
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24786~87	K29786~87	Bit
%KX39654~55	%KX47654~55
Speed	1 ∼ 100,000[pulse/s]	0	K2474	K2974	Double word
%KD1237	%KD1487
Dwell	0 ~ 50,000[unit:㎳]	0	K2476	K2976	Word
%KW2476	%KW2976

Appendix 2 Positioning Instruction and K area List
App. 2 -27

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
45	Coord.	0 : ABS, 1 : INC	ABS	K24884	K29884	Bit
%KX39812	%KX47812
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24882~83	K29882~83	Bit
%KX39810~11	%KX47810~11
Control	0 : POS, 1 : SPD	POS	K24881	K29881	Bit
%KX39809	%KX47809
Method	0 : SIN, 1 : REP	SIN	K24880	K29880	Bit
%KX39808	%KX47808
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2489	K2989	Word
%KW2489	%KW2989
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2480	K2980	Double word
%KD1240	%KD1490
M Code	0 ~ 65,535	0	K2487	K2987	Word
%KW2487	%KW2987
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24886~87	K29886~87	Bit
%KX39814~15	%KX47814~15
Speed	1 ∼ 100,000[pulse/s]	0	K2484	K2984	Double word
%KD1242	%KD1492
Dwell	0 ~ 50,000[unit:㎳]	0	K2486	K2986	Word
%KW2486	%KW2986

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
46	Coord.	0 : ABS, 1 : INC	ABS	K24984	K29984	Bit
%KX39972	%KX47972
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K24982~83	K29982~83	Bit
%KX39970~71	%KX47970~71
Control	0 : POS, 1 : SPD	POS	K24981	K29981	Bit
%KX39969	%KX47969
Method	0 : SIN, 1 : REP	SIN	K24980	K29980	Bit
%KX39968	%KX47968
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2499	K2999	Word
%KW2499	%KW2999
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2490	K2990	Double word
%KD1245	%KD1495
M Code	0 ~ 65,535	0	K2497	K2997	Word
%KW2497	%KW2997
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K24986~87	K29986~87	Bit
%KX39974~75	%KX47974~75
Speed	1 ∼ 100,000[pulse/s]	0	K2494	K2994	Double word
%KD1247	%KD1497
Dwell	0 ~ 50,000[unit:㎳]	0	K2496	K2996	Word
%KW2496	%KW2996

Appendix 2 Positioning Instruction and K area List
App. 2 -28

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
47	Coord.	0 : ABS, 1 : INC	ABS	K25084	K30084	Bit
%KX40132	%KX48132
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25082~83	K30082~83	Bit
%KX40130~31	%KX48130~31
Control	0 : POS, 1 : SPD	POS	K25081	K30081	Bit
%KX40129	%KX48129
Method	0 : SIN, 1 : REP	SIN	K25080	K30080	Bit
%KX40128	%KX48128
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2509	K3009	Word
%KW2509	%KW3009
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2500	K3000	Double word
%KD1250	%KD1500
M Code	0 ~ 65,535	0	K2507	K3007	Word
%KW2507	%KW3007
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25086~87	K30086~87	Bit
%KX40134~35	%KX48134~35
Speed	1 ∼ 100,000[pulse/s]	0	K2504	K3004	Double word
%KD1252	%KD1502
Dwell	0 ~ 50,000[unit:㎳]	0	K2506	K3006	Word
%KW2506	%KW3006

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
48	Coord.	0 : ABS, 1 : INC	ABS	K25184	K30184	Bit
%KX40292	%KX48292
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25182~83	K30182~83	Bit
%KX40290~91	%KX48290~91
Control	0 : POS, 1 : SPD	POS	K25181	K30181	Bit
%KX40289	%KX48289
Method	0 : SIN, 1 : REP	SIN	K25180	K30180	Bit
%KX40288	%KX48288
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2519	K3019	Word
%KW2519	%KW3019
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2510	K3010	Double word
%KD1255	%KD1505
M Code	0 ~ 65,535	0	K2517	K3017	Word
%KW2517	%KW3017
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25186~87	K30186~87	Bit
%KX40294~95	%KX48294~95
Speed	1 ∼ 100,000[pulse/s]	0	K2514	K3014	Double word
%KD1257	%KD1507
Dwell	0 ~ 50,000[unit:㎳]	0	K2516	K3016	Word
%KW2516	%KW3016

Appendix 2 Positioning Instruction and K area List
App. 2 -29

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
49	Coord.	0 : ABS, 1 : INC	ABS	K25284	K30284	Bit
%KX40452	%KX48452
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25282~83	K30282~83	Bit
%KX40450~51	%KX48450~51
Control	0 : POS, 1 : SPD	POS	K25281	K30281	Bit
%KX40449	%KX48449
Method	0 : SIN, 1 : REP	SIN	K25280	K30280	Bit
%KX40448	%KX48448
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2529	K3029	Word
%KW2529	%KW3029
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2520	K3020	Double word
%KD1260	%KD1510
M Code	0 ~ 65,535	0	K2527	K3027	Word
%KW2527	%KW3027
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25286~87	K30286~87	Bit
%KX40454~55	%KX48454~55
Speed	1 ∼ 100,000[pulse/s]	0	K2524	K3024	Double word
%KD1262	%KD1512
Dwell	0 ~ 50,000[unit:㎳]	0	K2526	K3026	Word
%KW2526	%KW3026

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
50	Coord.	0 : ABS, 1 : INC	ABS	K25384	K30384	Bit
%KX40612	%KX48612
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25382~83	K30382~83	Bit
%KX40610~11	%KX48610~11
Control	0 : POS, 1 : SPD	POS	K25381	K30381	Bit
%KX40609	%KX48609
Method	0 : SIN, 1 : REP	SIN	K25380	K30380	Bit
%KX40608	%KX48608
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2539	K3039	Word
%KW2539	%KW3039
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2530	K3030	Double word
%KD1265	%KD1515
M Code	0 ~ 65,535	0	K2537	K3037	Word
%KW2537	%KW3037
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25386~87	K30386~87	Bit
%KX40614~15	%KX48614~15
Speed	1 ∼ 100,000[pulse/s]	0	K2534	K3034	Double word
%KD1267	%KD1517
Dwell	0 ~ 50,000[unit:㎳]	0	K2536	K3036	Word
%KW2536	%KW3036

Appendix 2 Positioning Instruction and K area List
App. 2 -30

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
51	Coord.	0 : ABS, 1 : INC	ABS	K25484	K30484	Bit
%KX40772	%KX48772
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25482~83	K30482~83	Bit
%KX40770~71	%KX48770~71
Control	0 : POS, 1 : SPD	POS	K25481	K30481	Bit
%KX40769	%KX48769
Method	0 : SIN, 1 : REP	SIN	K25480	K30480	Bit
%KX40768	%KX48768
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2549	K3049	Word
%KW2549	%KW3049
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2540	K3040	Double word
%KD1270	%KD1520
M Code	0 ~ 65,535	0	K2547	K3047	Word
%KW2547	%KW3047
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25486~87	K30486~87	Bit
%KX40774~75	%KX48774~75
Speed	1 ∼ 100,000[pulse/s]	0	K2544	K3044	Double word
%KD1272	%KD1522
Dwell	0 ~ 50,000[unit:㎳]	0	K2546	K3046	Word
%KW2546	%KW3046

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
52	Coord.	0 : ABS, 1 : INC	ABS	K25584	K30584	Bit
%KX40932	%KX48932
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25582~83	K30582~83	Bit
%KX40930~31	%KX48930~31
Control	0 : POS, 1 : SPD	POS	K25581	K30581	Bit
%KX40929	%KX48929
Method	0 : SIN, 1 : REP	SIN	K25580	K30580	Bit
%KX40928	%KX48928
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2559	K3059	Word
%KW255 9	%KW3059
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2550	K3050	Double word
%KD1275	%KD1525
M Code	0 ~ 65,535	0	K2557	K3057	Word
%KW2557	%KW3057
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25586~87	K30586~87	Bit
%KX40934~35	%KX48934~35
Speed	1 ∼ 100,000[pulse/s]	0	K2554	K3054	Double word
%KD1277	%KD1527
Dwell	0 ~ 50,000[unit:㎳]	0	K2556	K3056	Word
%KW2556	%KW3056

Appendix 2 Positioning Instruction and K area List
App. 2 -31

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
53	Coord.	0 : ABS, 1 : INC	ABS	K25684	K30684	Bit
%KX41092	%KX49092
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25682~83	K30682~83	Bit
%KX41090~91	%KX49090~91
Control	0 : POS, 1 : SPD	POS	K25681	K30681	Bit
%KX41089	%KX49089
Method	0 : SIN, 1 : REP	SIN	K25680	K30680	Bit
%KX41088	%KX49088
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2569	K3069	Word
%KW2569	%KW3069
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2560	K3060	Double word
%KD1280	%KD1530
M Code	0 ~ 65,535	0	K2567	K3067	Word
%KW2567	%KW3067
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25686~87	K30686~87	Bit
%KX41094~95	%KX49094~95
Speed	1 ∼ 100,000[pulse/s]	0	K2564	K3064	Double word
%KD1282	%KD1532
Dwell	0 ~ 50,000[unit:㎳]	0	K2566	K3066	Word
%KW2566	%KW3066

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
54	Coord.	0 : ABS, 1 : INC	ABS	K25784	K30784	Bit
%KX41252	%KX49252
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25782~83	K30782~83	Bit
%KX41250~51	%KX49250~51
Control	0 : POS, 1 : SPD	POS	K25781	K30781	Bit
%KX41249	%KX49249
Method	0 : SIN, 1 : REP	SIN	K25780	K30780	Bit
%KX41248	%KX49248
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2579	K3079	Word
%KW2579	%KW3079
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2570	K3070	Double word
%KD1285	%KD1535
M Code	0 ~ 65,535	0	K2577	K3077	Word
%KW2577	%KW3077
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25786~87	K30786~87	Bit
%KX41254~55	%KX49254~55
Speed	1 ∼ 100,000[pulse/s]	0	K2574	K3074	Double word
%KD1287	%KD1537
Dwell	0 ~ 50,000[unit:㎳]	0	K2576	K3076	Word
%KW2576	%KW3076

Appendix 2 Positioning Instruction and K area List
App. 2 -32

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
55	Coord.	0 : ABS, 1 : INC	ABS	K25884	K30884	Bit
%KX41412	%KX49412
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25882~83	K30882~83	Bit
%KX41410~11	%KX49410~11
Control	0 : POS, 1 : SPD	POS	K25881	K30881	Bit
%KX41409	%KX49409
Method	0 : SIN, 1 : REP	SIN	K25880	K30880	Bit
%KX41408	%KX49408
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2589	K3089	Word
%KW2589	%KW3089
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2580	K3080	Double word
%KD1290	%KD1540
M Code	0 ~ 65,535	0	K2587	K3087	Word
%KW2587	%KW3087
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25886~87	K30886~87	Bit
%KX41414~15	%KX49414~15
Speed	1 ∼ 100,000[pulse/s]	0	K2584	K3084	Double word
%KD1292	%KD1542
Dwell	0 ~ 50,000[unit:㎳]	0	K2586	K3086	Word
%KW2586	%KW3086

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
56	Coord.	0 : ABS, 1 : INC	ABS	K25984	K30984	Bit
%KX41572	%KX49572
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K25982~83	K30982~83	Bit
%KX41570~71	%KX49570~71
Control	0 : POS, 1 : SPD	POS	K25981	K30981	Bit
%KX41569	%KX49569
Method	0 : SIN, 1 : REP	SIN	K25980	K30980	Bit
%KX41568	%KX49568
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2599	K3099	Word
%KW2599	%KW3099
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2590	K3090	Double word
%KD1295	%KD1545
M Code	0 ~ 65,535	0	K2597	K3097	Word
%KW2597	%KW3097
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K25986~87	K30986~87	Bit
%KX41574~75	%KX49574~75
Speed	1 ∼ 100,000[pulse/s]	0	K2594	K3094	Double word
%KD1297	%KD1547
Dwell	0 ~ 50,000[unit:㎳]	0	K2596	K3096	Word
%KW2596	%KW3096

Appendix 2 Positioning Instruction and K area List
App. 2 -33

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
57	Coord.	0 : ABS, 1 : INC	ABS	K26084	K31084	Bit
%KX41732	%KX49732
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26082~83	K31082~83	Bit
%KX41730~31	%KX49730~31
Control	0 : POS, 1 : SPD	POS	K26081	K31081	Bit
%KX41729	%KX49729
Method	0 : SIN, 1 : REP	SIN	K26080	K31080	Bit
%KX41728	%KX49728
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2609	K3109	Word
%KW2609	%KW3109
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2600	K3100	Double word
%KD1300	%KD1550
M Code	0 ~ 65,535	0	K2607	K3107	Word
%KW2607	%KW3107
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26086~87	K31086~87	Bit
%KX41734~35	%KX49734~35
Speed	1 ∼ 100,000[pulse/s]	0	K2604	K3104	Double word
%KD1302	%KD1552
Dwell	0 ~ 50,000[unit:㎳]	0	K2606	K3106	Word
%KW2606	%KW3106

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
58	Coord.	0 : ABS, 1 : INC	ABS	K26184	K31184	Bit
%KX41892	%KX49892
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26182~83	K31182~83	Bit
%KX41890~91	%KX49890~91
Control	0 : POS, 1 : SPD	POS	K26181	K31181	Bit
%KX41889	%KX49889
Method	0 : SIN, 1 : REP	SIN	K26180	K31180	Bit
%KX41888	%KX49888
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2619	K3119	Word
%KW2619	%KW3119
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2610	K3110	Double word
%KD1305	%KD1555
M Code	0 ~ 65,535	0	K2617	K3117	Word
%KW2617	%KW3117
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26186~87	K31186~87	Bit
%KX41894~95	%KX49894~95
Speed	1 ∼ 100,000[pulse/s]	0	K2614	K3114	Double word
%KD1307	%KD1557
Dwell	0 ~ 50,000[unit:㎳]	0	K2616	K3116	Word
%KW2616	%KW3116

Appendix 2 Positioning Instruction and K area List
App. 2 -34

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
59	Coord.	0 : ABS, 1 : INC	ABS	K26284	K31284	Bit
%KX42052	%KX50052
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26282~83	K31282~83	Bit
%KX42050~51	%KX50050~51
Control	0 : POS, 1 : SPD	POS	K26281	K31281	Bit
%KX42049	%KX50049
Method	0 : SIN, 1 : REP	SIN	K26280	K31280	Bit
%KX42048	%KX50048
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2629	K3129	Word
%KW2629	%KW3129
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2620	K3120	Double word
%KD1310	%KD1560
M Code	0 ~ 65,535	0	K2627	K3127	Word
%KW2627	%KW3127
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26286~87	K31286~87	Bit
%KX42054~55	%KX50054~55
Speed	1 ∼ 100,000[pulse/s]	0	K2624	K3124	Double word
%KD1312	%KD1562
Dwell	0 ~ 50,000[unit:㎳]	0	K2626	K3126	Word
%KW2626	%KW3126

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
60	Coord.	0 : ABS, 1 : INC	ABS	K26384	K31384	Bit
%KX42212	%KX50212
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26382~83	K31382~83	Bit
%KX42210~11	%KX50210~11
Control	0 : POS, 1 : SPD	POS	K26381	K31381	Bit
%KX42209	%KX50209
Method	0 : SIN, 1 : REP	SIN	K26380	K31380	Bit
%KX42208	%KX50208
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2639	K3139	Word
%KW2639	%KW3139
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2630	K3130	Double word
%KD1315	%KD1565
M Code	0 ~ 65,535	0	K2637	K3137	Word
%KW2637	%KW3137
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26386~87	K31386~87	Bit
%KX42214~15	%KX50214~15
Speed	1 ∼ 100,000[pulse/s]	0	K2634	K3134	Double word
%KD1317	%KD1567
Dwell	0 ~ 50,000[unit:㎳]	0	K2636	K3136	Word
%KW2636	%KW3136

Appendix 2 Positioning Instruction and K area List
App. 2 -35

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
61	Coord.	0 : ABS, 1 : INC	ABS	K26484	K31484	Bit
%KX42372	%KX50372
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26482~83	K31482~83	Bit
%KX42370~71	%KX50370~71
Control	0 : POS, 1 : SPD	POS	K26481	K31481	Bit
%KX42369	%KX50369
Method	0 : SIN, 1 : REP	SIN	K26480	K31480	Bit
%KX42368	%KX50368
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2649	K3149	Word
%KW2649	%KW3149
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2640	K3140	Double word
%KD1320	%KD1570
M Code	0 ~ 65,535	0	K2647	K3147	Word
%KW2647	%KW3147
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26486~87	K31486~87	Bit
%KX42374~75	%KX50374~75
Speed	1 ∼ 100,000[pulse/s]	0	K2644	K3144	Double word
%KD1322	%KD1572
Dwell	0 ~ 50,000[unit:㎳]	0	K2646	K3146	Word
%KW2646	%KW3146

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
62	Coord.	0 : ABS, 1 : INC	ABS	K26584	K31584	Bit
%KX42532	%KX50532
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26582~83	K31582~83	Bit
%KX42530~31	%KX50530~31
Control	0 : POS, 1 : SPD	POS	K26581	K31581	Bit
%KX42529	%KX50529
Method	0 : SIN, 1 : REP	SIN	K26580	K31580	Bit
%KX42528	%KX50528
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2659	K3159	Word
%KW2659	%KW3159
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2650	K3150	Double word
%KD1325	%KD1575
M Code	0 ~ 65,535	0	K2657	K3157	Word
%KW2657	%KW3157
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26586~87	K31586~87	Bit
%KX42534~35	%KX50534~35
Speed	1 ∼ 100,000[pulse/s]	0	K2654	K3154	Double word
%KD1327	%KD1577
Dwell	0 ~ 50,000[unit:㎳]	0	K2656	K3156	Word
%KW2656	%KW3156

Appendix 2 Positioning Instruction and K area List
App. 2 -36

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
63	Coord.	0 : ABS, 1 : INC	ABS	K26684	K31684	Bit
%KX42692	%KX50692
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26682~83	K31682~83	Bit
%KX42690~91	%KX50690~91
Control	0 : POS, 1 : SPD	POS	K26681	K31681	Bit
%KX42689	%KX50689
Method	0 : SIN, 1 : REP	SIN	K26680	K31680	Bit
%KX42688	%KX50688
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2669	K3169	Word
%KW2669	%KW3169
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2660	K3160	Double word
%KD1330	%KD1580
M Code	0 ~ 65,535	0	K2667	K3167	Word
%KW2667	%KW3167
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26686~87	K31686~87	Bit
%KX42694~95	%KX50694~95
Speed	1 ∼ 100,000[pulse/s]	0	K2664	K3164	Double word
%KD1332	%KD1582
Dwell	0 ~ 50,000[unit:㎳]	0	K2666	K3166	Word
%KW2666	%KW3166

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
64	Coord.	0 : ABS, 1 : INC	ABS	K26784	K31784	Bit
%KX42852	%KX50852
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26782~83	K31782~83	Bit
%KX42850~51	%KX50850~51
Control	0 : POS, 1 : SPD	POS	K26781	K31781	Bit
%KX42849	%KX50849
Method	0 : SIN, 1 : REP	SIN	K26780	K31780	Bit
%KX42848	%KX50848
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2679	K3179	Word
%KW2679	%KW3179
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2670	K3170	Double word
%KD1335	%KD1585
M Code	0 ~ 65,535	0	K2677	K3177	Word
%KW2677	%KW3177
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26786~87	K31786~87	Bit
%KX42854~55	%KX50854~55
Speed	1 ∼ 100,000[pulse/s]	0	K2674	K3174	Double word
%KD1337	%KD1587
Dwell	0 ~ 50,000[unit:㎳]	0	K2676	K3176	Word
%KW2676	%KW3176

Appendix 2 Positioning Instruction and K area List
App. 2 -37

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
65	Coord.	0 : ABS, 1 : INC	ABS	K26884	K31884	Bit
%KX43012	%KX51012
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26882~83	K31882~83	Bit
%KX43010~11	%KX51010~11
Control	0 : POS, 1 : SPD	POS	K26881	K31881	Bit
%KX43009	%KX51009
Method	0 : SIN, 1 : REP	SIN	K26880	K31880	Bit
%KX43008	%KX51008
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2689	K3189	Word
%KW2689	%KW3189
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2680	K3180	Double word
%KD1340	%KD1590
M Code	0 ~ 65,535	0	K2687	K3187	Word
%KW2687	%KW3187
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26886~87	K31886~87	Bit
%KX43014~15	%KX51014~15
Speed	1 ∼ 100,000[pulse/s]	0	K2684	K3184	Double word
%KD1342	%KD1592
Dwell	0 ~ 50,000[unit:㎳]	0	K2686	K3186	Word
%KW2686	%KW3186

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
66	Coord.	0 : ABS, 1 : INC	ABS	K26984	K31984	Bit
%KX43172	%KX51172
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K26982~83	K31982~83	Bit
%KX43170~71	%KX51170~71
Control	0 : POS, 1 : SPD	POS	K26981	K31981	Bit
%KX43169	%KX51169
Method	0 : SIN, 1 : REP	SIN	K26980	K31980	Bit
%KX43168	%KX51168
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2699	K3199	Word
%KW2699	%KW3199
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2690	K3190	Double word
%KD1345	%KD1595
M Code	0 ~ 65,535	0	K2697	K3197	Word
%KW2697	%KW3197
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K26986~87	K31986~87	Bit
%KX43174~75	%KX51174~75
Speed	1 ∼ 100,000[pulse/s]	0	K2694	K3194	Double word
%KD1347	%KD1597
Dwell	0 ~ 50,000[unit:㎳]	0	K2696	K3196	Word
%KW2696	%KW3196

Appendix 2 Positioning Instruction and K area List
App. 2 -38

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
67	Coord.	0 : ABS, 1 : INC	ABS	K27084	K32084	Bit
%KX43332	%KX51332
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27082~83	K32082~83	Bit
%KX43330~31	%KX51330~31
Control	0 : POS, 1 : SPD	POS	K27081	K32081	Bit
%KX43329	%KX51329
Method	0 : SIN, 1 : REP	SIN	K27080	K32080	Bit
%KX43328	%KX51328
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2709	K3209	Word
%KW2709	%KW3209
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2700	K3200	Double word
%KD1350	%KD1600
M Code	0 ~ 65,535	0	K2707	K3207	Word
%KW2707	%KW3207
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27086~87	K32086~87	Bit
%KX43334~35	%KX51334~35
Speed	1 ∼ 100,000[pulse/s]	0	K2704	K3204	Double word
%KD1352	%KD1602
Dwell	0 ~ 50,000[unit:㎳]	0	K2706	K3206	Word
%KW2706	%KW3206

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
68	Coord.	0 : ABS, 1 : INC	ABS	K27184	K32184	Bit
%KX43492	%KX51492
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27182~83	K32182~83	Bit
%KX43490~91	%KX51490~91
Control	0 : POS, 1 : SPD	POS	K27181	K32181	Bit
%KX43489	%KX51489
Method	0 : SIN, 1 : REP	SIN	K27180	K32180	Bit
%KX43488	%KX51488
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2719	K3219	Word
%KW2719	%KW3219
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2710	K3210	Double word
%KD1355	%KD1605
M Code	0 ~ 65,535	0	K2717	K3217	Word
%KW2717	%KW3217
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27186~87	K32186~87	Bit
%KX43494~95	%KX51494~95
Speed	1 ∼ 100,000[pulse/s]	0	K2714	K3214	Double word
%KD1357	%KD1607
Dwell	0 ~ 50,000[unit:㎳]	0	K2716	K3216	Word
%KW2716	%KW3216

Appendix 2 Positioning Instruction and K area List
App. 2 -39

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
69	Coord.	0 : ABS, 1 : INC	ABS	K27284	K32284	Bit
%KX43652	%KX51652
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27282~83	K32282~83	Bit
%KX43650~51	%KX51650~51
Control	0 : POS, 1 : SPD	POS	K27281	K32281	Bit
%KX43649	%KX51649
Method	0 : SIN, 1 : REP	SIN	K27280	K32280	Bit
%KX43648	%KX51648
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2729	K3229	Word
%KW2729	%KW 3229
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2720	K3220	Double word
%KD1360	%KD1610
M Code	0 ~ 65,535	0	K2727	K3227	Word
%KW2727	%KW3227
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27286~87	K32286~87	Bit
%KX43654~55	%KX51654~55
Speed	1 ∼ 100,000[pulse/s]	0	K2724	K3224	Double word
%KD1362	%KD1612
Dwell	0 ~ 50,000[unit:㎳]	0	K2726	K3226	Word
%KW2726	%KW3226

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
70	Coord.	0 : ABS, 1 : INC	ABS	K27384	K32384	Bit
%KX43812	%KX51812
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27382~83	K32382~83	Bit
%KX43810~11	%KX51810~11
Control	0 : POS, 1 : SPD	POS	K27381	K32381	Bit
%KX43809	%KX51809
Method	0 : SIN, 1 : REP	SIN	K27380	K32380	Bit
%KX43808	%KX51808
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2739	K3239	Word
%KW2739	%KW3239
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2730	K3230	Double word
%KD1365	%KD1615
M Code	0 ~ 65,535	0	K2737	K3237	Word
%KW2737	%KW3237
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27386~87	K32386~87	Bit
%KX43814~15	%KX51814~15
Speed	1 ∼ 100,000[pulse/s]	0	K2734	K3234	Double word
%KD1367	%KD1617
Dwell	0 ~ 50,000[unit:㎳]	0	K2736	K3236	Word
%KW2736	%KW3236

Appendix 2 Positioning Instruction and K area List
App. 2 -40

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
71	Coord.	0 : ABS, 1 : INC	ABS	K27484	K32484	Bit
%KX43972	%KX51972
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27482~83	K32482~83	Bit
%KX43970~71	%KX51970~71
Control	0 : POS, 1 : SPD	POS	K27481	K32481	Bit
%KX43969	%KX51969
Method	0 : SIN, 1 : REP	SIN	K27480	K32480	Bit
%KX43968	%KX51968
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2749	K3249	Word
%KW2749	%KW3249
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2740	K3240	Double word
%KD1370	%KD1620
M Code	0 ~ 65,535	0	K2747	K3247	Word
%KW2747	%KW3247
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27486~87	K32486~87	Bit
%KX43974~75	%KX51974~75
Speed	1 ∼ 100,000[pulse/s]	0	K2744	K3244	Double word
%KD1372	%KD1622
Dwell	0 ~ 50,000[unit:㎳]	0	K2746	K3246	Word
%KW2746	%KW3246

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
72	Coord.	0 : ABS, 1 : INC	ABS	K27584	K32584	Bit
%KX44132	%KX52132
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27582~83	K32582~83	Bit
%KX44130~31	%KX52130~31
Control	0 : POS, 1 : SPD	POS	K27581	K32581	Bit
%KX44129	%KX52129
Method	0 : SIN, 1 : REP	SIN	K27580	K32580	Bit
%KX44128	%KX52128
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2759	K3259	Word
%KW2759	%KW3259
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2750	K3250	Double word
%KD1375	%KD1625
M Code	0 ~ 65,535	0	K2757	K3257	Word
%KW2757	%KW3257
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27586~87	K32586~87	Bit
%KX44134~35	%KX52134~35
Speed	1 ∼ 100,000[pulse/s]	0	K2754	K3254	Double word
%KD1377	%KD1627
Dwell	0 ~ 50,000[unit:㎳]	0	K2756	K3256	Word
%KW2756	%KW3256

Appendix 2 Positioning Instruction and K area List
App. 2 -41

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
73	Coord.	0 : ABS, 1 : INC	ABS	K27684	K32684	Bit
%KX44292	%KX52292
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27682~83	K32682~83	Bit
%KX44290~91	%KX52290~91
Control	0 : POS, 1 : SPD	POS	K27681	K32681	Bit
%KX44289	%KX52289
Method	0 : SIN, 1 : REP	SIN	K27680	K32680	Bit
%KX44288	%KX52288
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2769	K3269	Word
%KW2769	%KW3269
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2760	K3260	Double word
%KD1380	%KD1630
M Code	0 ~ 65,535	0	K2767	K3267	Word
%KW2767	%KW3267
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27686~87	K32686~87	Bit
%KX44294~95	%KX52294~95
Speed	1 ∼ 100,000[pulse/s]	0	K2764	K3264	Double word
%KD1382	%KD1632
Dwell	0 ~ 50,000[unit:㎳]	0	K2766	K3266	Word
%KW2766	%KW3266

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
74	Coord.	0 : ABS, 1 : INC	ABS	K27784	K32784	Bit
%KX44452	%KX52452
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27782~83	K32782~83	Bit
%KX44450~51	%KX52450~51
Control	0 : POS, 1 : SPD	POS	K27781	K32781	Bit
%KX44449	%KX52449
Method	0 : SIN, 1 : REP	SIN	K27780	K32780	Bit
%KX44448	%KX52448
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2779	K3279	Word
%KW2779	%KW3279
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2770	K3270	Double word
%KD1385	%KD1635
M Code	0 ~ 65,535	0	K2777	K3277	Word
%KW2777	%KW3277
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27786~87	K32786~87	Bit
%KX44454~55	%KX52454~55
Speed	1 ∼ 100,000[pulse/s]	0	K2774	K3274	Double word
%KD1387	%KD1637
Dwell	0 ~ 50,000[unit:㎳]	0	K2776	K3276	Word
%KW2776	%KW3276

Appendix 2 Positioning Instruction and K area List
App. 2 -42

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
75	Coord.	0 : ABS, 1 : INC	ABS	K27884	K32884	Bit
%KX44612	%KX52612
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27882~83	K32882~83	Bit
%KX44610~11	%KX52610~11
Control	0 : POS, 1 : SPD	POS	K27881	K32881	Bit
%KX44609	%KX52609
Method	0 : SIN, 1 : REP	SIN	K27880	K32880	Bit
%KX44608	%KX52608
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2789	K3289	Word
%KW2789	%KW3289
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2780	K3280	Double word
%KD1390	%KD1640
M Code	0 ~ 65,535	0	K2787	K3287	Word
%KW2787	%KW3287
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27886~87	K32886~87	Bit
%KX44614~15	%KX52614~15
Speed	1 ∼ 100,000[pulse/s]	0	K2784	K3284	Double word
%KD1392	%KD1642
Dwell	0 ~ 50,000[unit:㎳]	0	K2786	K3286	Word
%KW2786	%KW3286

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
76	Coord.	0 : ABS, 1 : INC	ABS	K27984	K32984	Bit
%KX44772	%KX52772
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K27982~83	K32982~83	Bit
%KX44770~71	%KX52770~71
Control	0 : POS, 1 : SPD	POS	K27981	K32981	Bit
%KX44769	%KX52769
Method	0 : SIN, 1 : REP	SIN	K27980	K32980	Bit
%KX44768	%KX52768
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2799	K3299	Word
%KW2799	%KW3299
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2790	K3290	Double word
%KD1395	%KD1645
M Code	0 ~ 65,535	0	K2797	K3297	Word
%KW2797	%KW3297
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K27986~87	K32986~87	Bit
%KX44774~75	%KX52774~75
Speed	1 ∼ 100,000[pulse/s]	0	K2794	K3294	Double word
%KD1397	%KD1647
Dwell	0 ~ 50,000[unit:㎳]	0	K2796	K3296	Word
%KW2796	%KW3296

Appendix 2 Positioning Instruction and K area List
App. 2 -43

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
77	Coord.	0 : ABS, 1 : INC	ABS	K28084	K33084	Bit
%KX44932	%KX52932
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K28082~83	K33082~83	Bit
%KX44930~31	%KX52930~31
Control	0 : POS, 1 : SPD	POS	K28081	K33081	Bit
%KX44929	%KX52929
Method	0 : SIN, 1 : REP	SIN	K28080	K33080	Bit
%KX44928	%KX52928
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2809	K3309	Word
%KW2809	%KW3309
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2800	K3300	Double word
%KD1400	%KD1650
M Code	0 ~ 65,535	0	K2807	K3307	Word
%KW2807	%KW3307
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K28086~87	K33086~87	Bit
%KX44934~35	%KX52934~35
Speed	1 ∼ 100,000[pulse/s]	0	K2804	K3304	Double word
%KD1402	%KD1652
Dwell	0 ~ 50,000[unit:㎳]	0	K2806	K3306	Word
%KW2806	%KW3306

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
78	Coord.	0 : ABS, 1 : INC	ABS	K28184	K33184	Bit
%KX45092	%KX53092
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K28182~83	K33182~83	Bit
%KX45090~91	%KX53090~91
Control	0 : POS, 1 : SPD	POS	K28181	K33181	Bit
%KX45089	%KX53089
Method	0 : SIN, 1 : REP	SIN	K28180	K33180	Bit
%KX45088	%KX53088
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2819	K3319	Word
%KW2819	%KW3319
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2810	K3310	Double word
%KD1405	%KD1655
M Code	0 ~ 65,535	0	K2817	K3317	Word
%KW2817	%KW3317
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K28186~87	K33186~87	Bit
%KX45094~95	%KX53094~95
Speed	1 ∼ 100,000[pulse/s]	0	K2814	K3314	Double word
%KD1407	%KD1657
Dwell	0 ~ 50,000[unit:㎳]	0	K2816	K3316	Word
%KW2816	%KW3316

Appendix 2 Positioning Instruction and K area List
App. 2 -44

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
79	Coord.	0 : ABS, 1 : INC	ABS	K28284	K33284	Bit
%KX45252	%KX53252
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K28282~83	K33282~83	Bit
%KX45250~51	%KX53250~51
Control	0 : POS, 1 : SPD	POS	K28281	K33281	Bit
%KX45249	%KX53249
Method	0 : SIN, 1 : REP	SIN	K28280	K33280	Bit
%KX45248	%KX53248
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2829	K3329	Word
%KW2829	%KW3329
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2820	K3320	Double word
%KD1410	%KD1660
M Code	0 ~ 65,535	0	K2827	K3327	Word
%KW2827	%KW3327
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K28286~87	K33286~87	Bit
%KX45254~55	%KX53254~55
Speed	1 ∼ 100,000[pulse/s]	0	K2824	K3324	Double word
%KD1412	%KD1662
Dwell	0 ~ 50,000[unit:㎳]	0	K2826	K3326	Word
%KW2826	%KW3326

Step	Item	Setting range	Initial value	Dedicated K area	Data size
X axis	Y axis
80	Coord.	0 : ABS, 1 : INC	ABS	K28384	K33384	Bit
%KX45412	%KX53412
Pattern	0 : END, 1 : KEEP, 2 : CONT	END	K28382~83	K33382~83	Bit
%KX45410~11	%KX53410~11
Control	0 : POS, 1 : SPD	POS	K28381	K33381	Bit
%KX45409	%KX53409
Method	0 : SIN, 1 : REP	SIN	K28380	K33380	Bit
%KX45408	%KX53408
REP Step	0 ~ 30 (0 ~ 80 for high - end)	0	K2839	K3339	Word
%KW2839	%KW3339
Address [pulse]	-2,147,483,648∼ 2,147,483,647 [pulse]	0	K2830	K3330	Double word
%KD1415	%KD1665
M Code	0 ~ 65,535	0	K2837	K3337	Word
%KW2837	%KW3337
A/D No.	0 : No.1, 1 : No.2, 2 : No.3, 3 : No.4	0	K28386~87	K33386~87	Bit
%KX45414~15	%KX53414~15
Speed	1 ∼ 100,000[pulse/s]	0	K2834	K3334	Double word
%KD1417	%KD1667
Dwell	0 ~ 50,000[unit:㎳]	0	K2836	K3336	Word
%KW2836	%KW3336

Appendix 3 Motor Wiring Example
App.3 -1
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)
(2) Connection to a stepping motor driver (DC24V Power)
(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.

CW	Pulse	P20	P21
CW+	Common	COM	COM
CCW	Direction	P22	P23
CCW+
TIMING
COM	P05	P07	Origin
DC5V (Note 1)	+24V input	DC24V	DC24V	(Note5)
Stepping motor driver	XGB PLC
Signal	Ch0	Ch1
Upper limit	P01	P03
Low limit	P00	P02
Emg. Stop	Input
Common	COM0(input

Max. 2m
DC24V
Common COM COM
DOG P04 P06
(Note3)
(Note 4)

CW	Pulse	P20	P21
CW+	Common	COM	COM
CCW
CCW+	Common	COM	COM
TIMING
COM	DC24V	P05	P07	Origin
DC24V	2K, 1/2W
Stepping motor driver
Signal	Ch0	Ch1
+24V Input	DC24V	DC24V	(Note1)
High limit	P01	P03
Low limit	P00	P02
Emg. stop	Input
Common	COM0(Input
2K, 1/2W (Note2)
(Note5)

Max. 2m
Direction P22 P23
DOG P04 P06
XGB PLC
(Note3)
(Note 4)

Appendix 3 Motor Wiring Example
App.3 -2

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)
(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.

Less than Max. 2m CN1A PP SG NP OPC COM EMG SOn RES PC TL LSP LSN SG SG VDD COM ALM ZSP TLC P15R TLA LG SD CN1E OP LG SD XGB-PLC
Power supply 3-phase 200VAC	L1 L2 L3 TE1 U VW
NF MC	MR-J2S-A
CTE2 PE PE
3 10 2
11
9
15
5
14
8
9	3
16	14
17	13
10	Plate
20
3
13
18
19
6
11
12
1
Plate
U E EMG 24VDC B1 B2 SM Electronical brake Detector TxD RxD LG LG LG LG GND RS CS DR ER CN3 10mA 2 Off by servo On signal Cutoff by alarm signal
2
1
12
11
5
15
1
Plate

External Emg. stop
Servo On
Reset
Propotional control
Torque limit
Operation limit
Reverse operation limit
*3
*3
Error
Zero speed detection
In torque limit
RA1
RA2
RA3
Analog torque limit
+10V/Max. limit
RD
SD
GND
GND
RS
CS
DR
ER
L11
L21
D P
HC-MF HA-FF
Series motor
V WCN2
4 A A
Monitor output
10k Max. 10k
Personal
Computer
Less than Max.
Less than Max.
14
note(1)
note(3)
DC24V
Pulse
DC24V
P20 P21
Signal Ch0 Ch1
Direction P22 P23
Common COM COM
Common COM COM
+24V DC24 DC24
DOG P04 P06
P05 P07
Upper Limit P01 P03
Lower Limit P00 P02
Emg stop Input
Common COM0(Input
HOME
note(2)
note(4)
Appendix 3 Motor Wiring Example
App.3 -3
(2) Connection to a servo motor driver (FDA-5000 AC Servo Driver)
(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.
PFIN

PPFIN	11	1.5K,1/2W
PRIN
PPRIN	9	24G P24V
PZO+	5
PZO	30
INPOS	22
10
0 SPEED	47
BRAKE	48
ALARM	20
A_CODE0	45
A_CODE1	19
44	A_CODE2
GND24	24
GND24	25
CCWLIM	15
SVOnEN	18
P24V 24G (Note1)
Max. 2m	FDA-5000 (Note4)	XBM-DN16A/32S Common COM0(Input
40	CWLIM
39	ESTOP
ALMRST	38
P/P1	41
14	TLIM
49	+24VIN
1.5K,1/2W
(Note3)

RDY
12
21
CLR
38
Pulse
P20 P21
Signal Ch0 Ch1
Direction P22 P23
Common COM COM
Common COM COM
+24V Input DC24V DC24V
Origin P04 P06
High limit
Low limit
Emg. stop
DOG
(Note2
)
P05 P07
P01 P03
P00 P02
Input

Appendix 3 Motor Wiring Example
App.3 -4
(3) Connection to a servo motor driver (XGT Servo XDA-S)
(a) In case of XBM-DN**S
(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.
Note2
Input Common
Lower limit
Upper limit
Emergency stop
Origin
DOG
External power
input terminal
Pulse
Direction
Output Common
Input contact
Power AC
Servo motor
Note1
Appendix 3 Motor Wiring Example
App.3 -5
(b) In case of XBC/XEC-DN**H
(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.
Note2
Input Common
Lower limit
P0008 (%IX0.0.8)
Upper limit
P0009 (%IX0.0.9)
Emergency Stop
Origin
P000D (%IX0.0.13)
DOG
P000C (%IX0.0.12)
External DC24V
Input terminal
Note1
Servo motor
Power AC
Appendix 3 Motor Wiring Example
App.3 -6
(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
Appendix 3 Motor Wiring Example
App.3 -7
(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
Appendix 4 Dimension
App. 4 -１
Appendix 4 Dimension (Unit : mm)
(1) Modular type main unit
-. XBM-DN16S/32S
P00~07 P20~27
RUN
PWR
ERR
XBM-DN16S
RUN
RS-232C
-. XBM-DR16S
RUN
PWR
ERR
XBM-DR16S
RS-232C
RUN
P00~07 P20~27
Appendix 4 Dimension
App. 4 -２
(2) Compact Standard main unit (“S(U)”type)
- XB(E)C-DR20/30S(U), XB(E)C-DN20/30SU, XB(E)C-DP20/30SU
-. XB(E)C-DR40SU, XB(E)C-DN40SU, XB(E)C-DP40SU
Appendix 4 Dimension
App. 4 -３
-. XB(E)C-DR60SU, XB(E)C-DN60SU, XB(E)C-DP60SU
Appendix 4 Dimension
App. 4 -４
(3) Compact High-end type main unit
-. XBC-DN32H/XEC-DN32H/XEC-DP32H
-. XBC-DR32H/XEC-DR32H
Appendix 4 Dimension
App. 4 -５
-. XBC-DN64H/XEC-DN64H/XEC-DP64H
-. XBC-DR64H/XEC-DR64H
Appendix 4 Dimension
App. 4 -６
(4) Extended I/O module
-. XBE-DC32A, XBE-TR32A

01
02
03
04
05
06
07
19
20
08
09
10
11
12
13
14
15
16
17
18
B A

-. XBE-RY16A
Appendix 4 Dimension
App. 4 -７
-. XBE-DC08A, XBE-DC16A, XBE-TN08A, XBE-TN16A
-. XBE-DR16A, XBE-RY08A
Appendix 4 Dimension
App. 4 -８
(5) Communication module
-. XBL-C41/21A
-. XBL-EMTA
Appendix 4 Dimension
App. 4 -９
(5) Special module
-. XBF-AD04A
-. XBF-DV04A

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.
LSIS considers the environmental
preservation as the preferential management
subject and every staff of LSIS use the
reasonable endeavors for the pleasurably
environmental preservation of the earth.
LSIS’ PLC unit is designed to protect the
environment. For the disposal, separate
aluminum, iron and synthetic resin (cover)
from the product as they are reusable.
Environmental Management About Disposal
LSIS values every single customers.
Quality and service come first at LSIS.
Always at your service, standing for our customers.
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2015. 06