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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 contr
ol 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: internal emergency stop, external input upper/lower limit,
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
3- 58
(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 -2,147,483,6482,147,483,647[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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
ORG sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
FLT sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
DST sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
n3 - - - - - - - - -
n4 - - - - - - - - -
n5 - - - - - - - - -
DST
COMMAND
DST sl ax n1 n2 n3 n4 n5

 

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

[
Area Setting]

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

[Flag Set]

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

(a) Function
• This instruction is giving indirect starting instruction to XGB built-in positioning.
• The indirect starting is executed to the axis designated as ax of XGB positioning at the rising edge
of the input condition.
• If the instruction is executed, the positioning operation is carried out by the operation data set in
the step number of area K designated in n1. If n1 is set at 0, the operation step is executed which
is displayed in the step number of current positioning area K (axis X:K426, axis Y:K436 word).
• Various operation patterns such as end, continued, and incessant operation, and single and
repeated operation can be made and executed by using the indirect operation instruction.
(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• In this case, execution of instruction is error. so K area error ocurrence Flag(X axis:K4201, Y
axis:K4301) doesn't turn On
• If the set value of the starting step number gets out of the settable range, instruction Error
Flag(F110) is not set, the error flag of positioning area K (axis X:K4201, axis Y: K4301) turns On,
and the operation does not occur.
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
LIN sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
SST sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
n3 - - - - - - - - -
n4 - - - - - - - - -

[
Area Setting]

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

[Flag Set]

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

(a) Function
• This function is for giving the simultaneous starting instruction to XGB built-in positioning
simultaneous starting.
• The two axes of XGB positioning are simultaneously started at the rising edge of the input
condition. (For the difference between using the simultaneous starting instruction and starting the
two axes consecutively in the PLC ladder program, refer to 3.1.7.)
• When the instruction is executed, axis X and axis Y simultaneously start by using the operation
data of the step number set in n1 and n2 respectively. XGB built-in positioning does not have axis
Z, so the set value of n3 does not affect the operation.
• Axis setting of n4 sets the axis to carry out simultaneous starting by bit as follows.

Bit No. 15 ~ 3 2 1 0
Setting Not used Axis Z (XGB not used) axis Y axis X

- Each bit refers to the axis to start straight interpolation. In the case of XGB built-in positioning,
only axis X and axis Y are available, so n4 should be fixed at 3. Otherwise, error code 296 is
issued and operation does not occur.
(b) Error
• If the value designated as ax (instruction axis) is other than 0 and 1, the error flag (F110) is set
and the instruction is not executed.
• Since this case if an error of execution of the instruction, the error in positioning area K error
flag(axis X:K4201, axis Y: K4301) does not turn On..
• If the set value of the starting step number gets out of the settable range, instruction Error
Flag(F110) is not set, the error flag of positioning area K (axis X:K4201, axis Y: K4301) turns On,
and the operation does not occur.
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
VTP sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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 F L T C S Z D.x R.x Cons
tant
U N D R (F110) Error (F111) Zero (F112) Carry
PTV sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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
sl - - - - - - - - - - - - - 4~7 - -
[
STP
COMMAND
Instruction Areas available Step Flag
PMK F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
ax - - - - - - - - -
n1 - - - - - - - - -

[
Area Setting]

Operand Description Setting range Data size
sl Slot No. of positioning module XGB is fixed at 0 WORD
ax Axis to give instruction 0 (axis X) or 1 (axis Y) WORD
n1 deceleration time 0(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 F L T C S Z D.x R.x Cons
tant
U N D R (F110) Error (F111) Zero (F112) Carry
SSP sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
n3 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
SSS sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
n3 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
POR sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
SOR sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
PSO sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2 - - - - - - - - -
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 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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
INCH sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
SNS sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
MOF sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
PRS sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
PRS
COMMAND
PRS sl ax n1

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 F L T C S Z D.x R.x con
stan
t
U N D R Error
(F110)
Zero
(F111)
Carry
(F112)
EMG sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
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 F L T C S Z D.x R.x Cons
tant
U N D R (F110) Error (F111) Zero (F112) Carry
CLR sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x cons
tant
U N D R (F110) Error (F111) Zero (F112) Carry
WRT sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
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 F L T C S Z D.x R.x cons
tant
U N D R (F110) Error (F111) Zero (F112) Carry
WRT sl - - - - - - - - - - - - - 4~7 - -
ax - - - - - - - - -
n1 - - - - - - - - -
n2

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 to

•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
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5.3.10 Deceleration Stop Function Block
•This APM_STP instruction decelerates a running axis at the rate specified in the instruction to stop it.
For the details of the stop function in positioning operation including deceleration stop, see 3.1.11.
(1) Decelerate to Stop Instruction (APM_STP)

Form Variable Data Type Description
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
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5.3.11 Position Synchronization Function Block
•As shown below, this is a synchronous start-up instruction with the axis set up by the position
synchronization instruction (APM_SSP) as the sub-axis according to the present position of the main
axis. For details, see 3.1.8.
(1) Position Synchronization Start-up Instruction (APM_SSP)

Form Variable Data Type Description
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
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(b) Used Devices

Device Description Data Size Exemplary Setting
Position Sync. Position synchronization reference signal BIT -
Indirect start Main axis indirect start reference signal BIT -
%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
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5.3.14 Speed Override Function Block
•Speed override instruction (APM_SOR) changes the operating speed of the axis presently in
positioning operation to the speed set up in the instruction line. For the details of speed override
function, see 3.1.10.
(1) Speed Override Instruction (APM_SOR)

Form Variable Data Type Description
SOR_
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
• If you execute ‘Write PLC,’ the position parameter set in the positioning monitoring package and
the operation data of each axis are all transferred to XGB.
• The parameter and operation data displayed when the positioning monitoring package is executed
are not the data read from XGB but the parameter and operation data currently saved in XG5000.
Therefore if you change the parameter or operation data in the positioning monitoring package
and save them in the XGB PLC, be sure to press the ‘Save Project’ button to save them in the
XG5000 project. Otherwise the settings of XG5000 might be different from XGB.
• For details, refer to 3.2. and 3.3.

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 Positio