0 M1002

= D5004 K0 DMOV K10000 D5004

ON only fo HOME SPEED HOME SPEED
r 1 scan a X-AXIS X-AXIS
fter RUN.
Initial pu
15 M1002
= D5006 K0 MOV K5000 D5006
ON only fo HOME SPEED HOME SPEED
r 1 scan a SLOW X-AX SLOW X-AX
fter RUN. IS IS
Initial pu
26 M1002
= D5007 K0 MOV K1000 D5007
ON only fo BACK OFF D BACK OFF D
r 1 scan a ISTANCE X ISTANCE X
fter RUN.
Initial pu
37 M1002
= D5008 K0 MOV K5000 D5008
ON only fo Z SERACH M Z SERACH M
r 1 scan a AX-X AX-X
fter RUN.
Initial pu
48 M1002
= D5009 K0 DMOV K500000 D5009
ON only fo LIMIT SERC LIMIT SERC
r 1 scan a H MAX X-AX H MAX X-AX
fter RUN. IS IS
Initial pu
63 M1002
= D5011 K0 DMOV K8000 D5011
ON only fo RUN SPEED RUN SPEED
r 1 scan a X X
fter RUN.
Initial pu
78 M1002
= D5013 K0 DMOV K50000 D5013
ON only fo ACC- X ACC- X
r 1 scan a
fter RUN.
Initial pu
93 M1002
= D5015 K0 DMOV K150000 D5015
ON only fo DECC-X DECC-X
r 1 scan a
fter RUN.
Initial pu
108 M1002
= D5017 K0 DMOV K-500000 D5017
ON only fo SOFT LIMIT SOFT LIMIT
r 1 scan a -X -X
fter RUN.
Initial pu
123 M1002
= D5019 K0 DMOV K500000 D5019
ON only fo SOFT LIMIT SOFT LIMIT
r 1 scan a +X +X
fter RUN.
Initial pu
138 M1002
= D5104 K0 DMOV K10000 D5104
ON only fo HOME SPEED HOME SPEED
r 1 scan a Y-AXIS Y-AXIS
fter RUN.
Initial pu
153 M1002
= D5106 K0 MOV K10000 D5106
ON only fo HOME SPEED HOME SPEED
r 1 scan a SLOW Y-AX SLOW Y-AX
fter RUN. IS IS
Initial pu
164 M1002
= D5107 K0 MOV K2000 D5107
ON only fo BACK OFF D BACK OFF D
r 1 scan a ISTANCE Y ISTANCE Y
fter RUN.
Initial pu
175 M1002
= D5108 K0 MOV K5000 D5108
ON only fo Z SERACH M Z SERACH M
r 1 scan a AX-Y AX-Y
fter RUN.
Initial pu
186 M1002
= D5109 K0 DMOV K500000 D5109
ON only fo LIMIT SERC LIMIT SERC
r 1 scan a H MAX Y-AX H MAX Y-AX
fter RUN. IS IS
Initial pu
201 M1002
= D5111 K0 DMOV K8000 D5111
ON only fo RUN SPEED RUN SPEED
r 1 scan a Y Y
fter RUN.
Initial pu
216 M1002
= D5113 K0 DMOV K50000 D5113
ON only fo ACC-Y ACC-Y
r 1 scan a
fter RUN.
Initial pu
231 M1002
= D5115 K0 DMOV K50000 D5115
ON only fo DECC-Y DECC-Y
r 1 scan a
fter RUN.
Initial pu
246 M1002
= D5117 K0 DMOV K-500000 D5117
ON only fo SOFT LIMIT SOFT LIMIT
r 1 scan a -Y -Y
fter RUN.
Initial pu
261 M1002
= D5119 K0 DMOV K500000 D5119
ON only fo SOFT LIMIT SOFT LIMIT
r 1 scan a +Y +Y
fter RUN.
Initial pu
276 M1002
= D5200 K0 MOV K1 D5200
ON only fo REQUIREHOM REQUIREHOM
r 1 scan a E ON BOOT E ON BOOT
fter RUN.
Initial pu
287 M1002
= D5201 K0 MOV K0 D5201
ON only fo HOME SELEC HOME SELEC
r 1 scan a T(0ALL,1X, T(0ALL,1X,
fter RUN. 2Y) 2Y)
Initial pu
298 M1002
= D5202 K0 MOV K1000 D5202
ON only fo pulse rate pulse rate
r 1 scan a -x -x
fter RUN.
Initial pu
309 M1002
= D5203 K0 MOV K1000 D5203
ON only fo pulse rate pulse rate
r 1 scan a y y
fter RUN.
Initial pu
DERIVE DIRECTION BITS (XOR HOME DIR +INVERT)

320 M1000
= D5000 K1 ( M520 )
Normally o HOME-X DIR
pen contac ECTION
t (a conta
ct). This
327 M1000
= D5001 K1 ( M521 )
Normally o X-AXIS DIR
pen contac ECTION
t (a conta
ct). This
334 M520 M521

( M524 )

337 M520 M521

( M525 )

340 M524

( M526 )
DIR POSITI
VE X

M525

343 M1000
= D5100 K1 ( M620 )
Normally o HOME DIR-Y
pen contac
t (a conta
ct). This
350 M1000
= D5101 K1 ( M621 )
Normally o Y-AXIS DIR
pen contac
t (a conta
ct). This
357 M620 M621
( M624 )

360 M620 M621

( M625 )

363 M624

( M626 )
DIR POSITI
VE Y

M625

HOME LIMIT HIT/RELEASE NORMALIZE NO/NC

366 X2
= D5002 K0 ( M542 )
HOME X LIM LIMIT TYPE NO-HIT-X
IT 0 NO, 1 N
C

373 M542 X2
TMR T100 K50
NO-HIT-X HOME X LIM X-hit debo
IT unce

379 X2
= D5002 K1 ( M543 )
HOME X LIM LIMIT TYPE NC-HIT-X
IT 0 NO, 1 N
C

386 M543 X2
TMR T100 K50
NC-HIT-X HOME X LIM X-hit debo
IT unce

392 T100

( M540 )
X-hit debo LIMIT HIT
unce X

RELEASE: NO&/X2)OR(NC&X2)>>m541

394 X2
= D5002 K0 ( M544 )
HOME X LIM LIMIT TYPE N0-RELEASE
IT 0 NO, 1 N -X
C

401 M544
TMR T101 K50
N0-RELEASE x-release
-X debounce

406 X2
= D5002 K1 ( M545 )
HOME X LIM LIMIT TYPE NC-RELEASE
IT 0 NO, 1 N -X
C

413 M545
TMR T101 K50
NC-RELEASE x-release
-X debounce
418 T101
( M541 )
x-release LIMIT RELE
debounce ASED-X

AXIS Y ON X3

420 X3
= D5102 K0 ( M572 )
HOME Y LIM LIMIT Y TY NO-HIT-Y
IT PE 0N0,1NC

427 M572
TMR T110 K50
NO-HIT-Y y-hit debo
unce

432 X3
= D5102 K1 ( M573 )
HOME Y LIM LIMIT Y TY NC-HIT-Y
IT PE 0N0,1NC

439 M573
TMR T110 K50
NC-HIT-Y y-hit debo
unce

444 T110
( M570 )
y-hit debo LIMIT Y HI
unce T

446 X3
= D5102 K0 ( M574 )
HOME Y LIM LIMIT Y TY NO-RELEASE
IT PE 0N0,1NC -Y

453 M574
TMR T111 K50
NO-RELEASE y-release
-Y debounce

458 X3
= D5102 K1 ( M575 )
HOME Y LIM LIMIT Y TY NC-RELEASE
IT PE 0N0,1NC -Y

465 M575
TMR T111 K50
NC-RELEASE y-release
-Y debounce

470 T111

( M571 )
y-release LIMIT Y RE
debounce LEAS

Alarms

472 M122 X17

( M900 )
HMI-HOME KNIFE UP KNIFE NOT
UP

RST M700
HMI HOME P
ULSE START

RST M701
REQUIRED H
OME FLAG
481 M122 X16
( M901 )
HMI-HOME MAN/ AUTO Auto mode

RST M700
HMI HOME P
ULSE START

RST M701
REQUIRED H
OME FLAG

490 M122 X15

( M902 )
HMI-HOME EMG Emergency

RST M700
HMI HOME P
ULSE START

RST M701
REQUIRED H
OME FLAG

HOME REQUEST LOGIC

499 M122 X17 X16 X15 M702

SET M700
HMI-HOME KNIFE UP MAN/ AUTO EMG ONE SHOT M HMI HOME P
EMORY HOME ULSE START
START

SET M702
ONE SHOT M
EMORY HOME
START

508 M122
RST M702
HMI-HOME ONE SHOT M
EMORY HOME
START

512 M1000 M900 M901 M902

= D5200 K1 SET M701
Normally o REQUIREHOM KNIFE NOT Auto mode Emergency REQUIRED H
pen contac E ON BOOT UP OME FLAG
t (a conta
ct). This
522 M700
= D5201 K0 SET M600
HMI HOME P HOME SELEC NEED HOME
ULSE START T(0ALL,1X, X
2Y)

M701
SET M610
REQUIRED H NEED HOME
OME FLAG Y

531 M700
= D5201 K1 SET M600
HMI HOME P HOME SELEC NEED HOME
ULSE START T(0ALL,1X, X
2Y)

M701
= D5201 K2 SET M610
REQUIRED H HOME SELEC NEED HOME
OME FLAG T(0ALL,1X, Y
2Y)

X-AXIS HOME
547 M600 M530
SET M530
NEED HOME BUSY-X BUSY-X
X

RST M531
DONE-X

RST M532
FAULT-X

556 M600 M540

SET M534
NEED HOME LIMIT HIT STEP B X
X X

RST M533
STEP A- X-
SEARCH LIM
IT

RST M600
NEED HOME
X

565 M600 M540

SET M533
NEED HOME LIMIT HIT STEP A- X-
X X SEARCH LIM
IT

RST M600
NEED HOME
X

571 M533 M551

SET M550
STEP A- X- MEMORY-X- OONE SHOT
SEARCH LIM STEP A STEPA-X
IT

574 M533
SET M551
STEP A- X- MEMORY-X-
SEARCH LIM STEP A
IT

576 M533
RST M551
STEP A- X- MEMORY-X-
SEARCH LIM STEP A
IT

580 M550 M526

DMUL D5009 D5202 D5300
OONE SHOT DIR POSITI LIMIT SERC pulse rate
STEPA-X VE X H MAX X-AX -x
IS

M526
DMUL K-1 D5300 D5300
DIR POSITI
VE X

DDRVI D5300 D5004 Y2 Y3

HOME SPEED X-STEP DIR-X
X-AXIS

629 M533 M540

RST M533
STEP A- X- LIMIT HIT STEP A- X-
SEARCH LIM X SEARCH LIM
IT IT

SET M534
STEP B X
635 M534 M553
SET M552
STEP B X MEMORY STE ON SHOT ST
PBX EP B X

638 M534
SET M553
STEP B X MEMORY STE
PBX

640 M534
RST M553
STEP B X MEMORY STE
PBX

PREPARE FOR BACK OFF

644 M552
DMUL D5007 D5202 D5300
ON SHOT ST BACK OFF D pulse rate
EP B X ISTANCE X -x

M526
DMUL K-1 D5300 D5300
DIR POSITI
VE X

DDRVI D5300 D5006 Y2 Y3

HOME SPEED X-STEP DIR-X
SLOW X-AX
IS

TRANSITION TO C/D ON RELEASE

691 M534 M541

RST M534
STEP B X LIMIT RELE STEP B X
ASED-X

696 M541
= D5003 K1 SET M535
LIMIT RELE USE Z-X STEP C-X
ASED-X

= D5003 K0 SET M536

USE Z-X STEP D -X

711 M535 M555

SET M554
STEP C-X MEMOERY ST ONE SHOT S
EP C-X TEP C-X

SET M555
MEMOERY ST
EP C-X

717 M535
RST M555
STEP C-X MEMOERY ST
EP C-X

721 M554
DMUL D5008 D5202 D5300
ONE SHOT S Z SERACH M pulse rate
TEP C-X AX-X -x

M526
DMUL K-1 D5300 D5300
DIR POSITI
VE X
 DDRVI D5300 D5006 Y2 Y3
HOME SPEED X-STEP DIR-X
SLOW X-AX
IS

768 X4 M538
SET M537
Z-INPUT-X MEMORY Z-X ZPULSE ONE
SHOT-X

SET M538
MEMORY Z-X

774 X4
RST M538
Z-INPUT-X MEMORY Z-X

778 M535 M537

RST M535
STEP C-X ZPULSE ONE STEP C-X
SHOT-X

SET M536
STEP D -X

784 M536
MOV K0 D310
STEP D -X POSITION X

RST M536
STEP D -X

RST M530
BUSY-X

SET M531
DONE-X

AXIS Y HOMING

797 M610 M560

SET M560
NEED HOME BUSY-Y BUSY-Y
Y

RST M561
DONE-Y

RST M562
FAULT Y

806 M610 M570

SET M564
NEED HOME LIMIT Y HI STEP-B-Y
Y T

RST M563
STEP A-Y
 RST M610
NEED HOME
Y

815 M610 M570

SET M563
NEED HOME LIMIT Y HI STEP A-Y
Y T

RST M610
NEED HOME
Y

821 M563 M581

SET M580
STEP A-Y MEMORY-STE ONE SHOT S
P A-Y TEP A-Y

SET M581
MEMORY-STE
P A-Y

827 M563
RST M581
STEP A-Y MEMORY-STE
P A-Y

831 M580 M526

DMUL D5109 D5203 D5320
ONE SHOT S DIR POSITI LIMIT SERC pulse rate
TEP A-Y VE X H MAX Y-AX y
IS

M526
DMUL K-1 D5320 D5320
DIR POSITI
VE X

DDRVI D5320 D5104 Y0 Y1

HOME SPEED
Y-AXIS

880 M563 M570

RST M563
STEP A-Y LIMIT Y HI STEP A-Y
T

SET M564
STEP-B-Y

886 M564 M583

SET M582
STEP-B-Y MEMORT STE ONE SHOT S
P B-Y TEP B-Y

SET M583
MEMORT STE
P B-Y

892 M564
RST M583
STEP-B-Y MEMORT STE
P B-Y

PREPARE FOR BACK OFF

896 M582
DMUL D5107 D5203 D5320
ONE SHOT S BACK OFF D pulse rate
TEP B-Y ISTANCE Y y
 M526
DMUL K-1 D5320 D5320
DIR POSITI
VE X

DDRVI D5320 D5106 Y0 Y1

HOME SPEED
SLOW Y-AX
IS

TRANSITION TO C/D ON RELEASE

943 M564 M571

RST M564
STEP-B-Y LIMIT Y RE STEP-B-Y
LEAS

948 M571
= D5103 K1 SET M565
LIMIT Y RE USE Z-Y STEP C-Y
LEAS

= D5103 K0 SET M566

USE Z-Y STEPD-Y

963 M565 M585

SET M584
STEP C-Y MEMORY STE ONE SHOT S
P-C TEPC-Y

SET M585
MEMORY STE
P-C

969 M565
RST M585
STEP C-Y MEMORY STE
P-C

973 M584
DMUL D5108 D5203 D5320
ONE SHOT S Z SERACH M pulse rate
TEPC-Y AX-Y y

M526
DMUL K-1 D5320 D5320
DIR POSITI
VE X

DDRVI D5320 D5106 Y0 Y1

HOME SPEED
SLOW Y-AX
IS

1020 X5 M568
SET M567
Z PULSE -Y MEMORY Z-Y ZPULSE-Y O
NE SHOT

SET M568
MEMORY Z-Y

1026 X5
RST M568
Z PULSE -Y MEMORY Z-Y

1030 M565 M567

RST M565
STEP C-Y ZPULSE-Y O STEP C-Y
NE SHOT
 SET M566
STEPD-Y

1036 M566
MOV K0 D320
STEPD-Y POSITION Y

RST M566
STEPD-Y

RST M560
BUSY-Y

SET M561
DONE-Y

SOFT LIMIT

1049 M1000
<= D310 D5017 SET M532
Normally o POSITION X SOFT LIMIT FAULT-X
pen contac -X
t (a conta
ct). This

>= D310 D5019 SET M532

POSITION X SOFT LIMIT FAULT-X
+X

1064 M1000
<= D320 D5117 SET M562
Normally o POSITION Y SOFT LIMIT FAULT Y
pen contac -Y
t (a conta
ct). This

>= D320 D5119 SET M562

POSITION Y SOFT LIMIT FAULT Y
+Y

HMI DISPLAY

1079 M1000
MOV D310 D5030
Normally o POSITION X HMI X-POSI
pen contac TION
t (a conta
ct). This

MOV D320 D5130

POSITION Y HMI Y-POSI
TION

1090

END