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5 SERVO PROGRAMS FOR POSITIONING CONTROL
5. SERVO PROGRAMS FOR POSITIONING CONTROL
Servo programs specify the type of the positioning data required to execute the
positioning control in the Multiple CPU system.
This chapter describes the configuration and setting method of the servo programs.
Refer to Chapter "6 POSITIONING CONTROL" for details of the servo program.
5.1 Servo Program Composition Area
This section is described the composition of servo programs and the area in which
stores the servo program.
5.1.1 Servo program composition
A servo program is composed a program No., servo instructions and positioning data.
When a program No. and the required servo instructions are specified using a
peripheral device, the positioning data required to execute the specified servo
instructions can be set.
[Explanation of the program]
K11 . . . . . . . Program No.11
ABS-3 . . . . . 3 axes linear interpolation control as absolute
data method.
Axis1, 3000000.0
Axis2, 5500000.0
...
Axis used and positioning address
Axis3, -2500000.0
Used axes
Positioning address
1
3000000.0[
µ
m]
2
5500000.0[
µ
m]
3
-2500000.0[
µ
m]
Program No.
Servo instruction
Positioning
data
<K 11>
ABS-3
Axis 1,
Axis 2,
Axis 3,
Combined speed
Dwell
M-code
P.B.
3000000.0
5500000.0
-2500000.0
40000.00
2500
12
3
Control units
[mm]
[mm]
[mm]
[mm/min]
[ms]
Number of program steps 10
Number of used programs 20/13312
• Combined speed ……… Command speed for the 3 axes
(axis 1, axis 2, axis 3) combination
40000.00 [mm/min]
• Dwell ……………………. Dwell time 2500 [ms]
• M-code …………………. M-code 12
• P.B. ……………………... Parameter block No. 3
Fig. 5.1 Composition example of servo program
(1) Program No. ........... This No. is specified using the Motion SFC program.
Any No. in the range of 0 to 4095 can be set.
(2) Servo instruction .… Type of positioning control is indicated.
Refer to Section 5.2 for details.
5
- MOTION CONTROLLER Qseries 1
- (Q173CPU(N)/Q172CPU(N)) 1
- SAFETY PRECAUTIONS 2
- (1) System structure 4
- CAUTION 10
- 1 OVERVIEW 20
- 1. OVERVIEW 20
- 1.1 Overview 20
- 1.2 Features 22
- A173UHCPU/A172SHCPUN 24
- Start request of the 27
- Motion SFC program 27
- Motion CPU 28
- Servo program . . . . 30
- PLC program . . . . 31
- Set and correct using a 34
- (2) Servo program 37
- (4) PLC program 38
- (1) Internal signals 40
- (2) External signals 40
- 3.1 Internal Relays 41
- (1) Internal relay list 41
- (2) Axis status list 43
- (4) Common device list 45
- 3.1.1 Axis statuses 51
- 3.1.2 Axis command signals 60
- 3.1.3 Common devices 67
- ....………. Status signal 75
- 3.2 Data Registers 78
- (1) Data register list 78
- Command 80
- ....…….. Monitor device 85
- /SV22Q (Ver.00B or before) 90
- +0, +1 ··· 93
- on each axis is shown 93
- 3.4 Special Relays (SP.M) 94
- Table 3.2 Special relay list 94
- 3.5 Special Registers (SP.D) 96
- ........... Monitor device 100
- Manual (Motion SFC) 102
- 4.2 Fixed Parameters 103
- Servo amplifier 104
- Fig. 4.2 For ball screw 105
- (Note-2) 107
- (Note-1) 107
- (2) Adjustment parameters 111
- (3) Expansion parameters 115
- Motor speed 117
- Overshoot 117
- Undershoot 117
- Load inertia moment 119
- Motor inertia moment 119
- Command value 120
- 5 4 3 2 1 120
- Response setting 120
- (Note-3) 125
- 4.4 Parameter Block 126
- 4.4.2 S-curve ratio 128
- Used axes 130
- Positioning address 130
- 5.2 Servo Instructions 132
- (2) Servo instruction list 133
- Forward 137
- Reverse 137
- Position 139
- FOR-TIMES 143
- 5.3 Positioning Data 145
- Table 5.3 Positioning data 145
- (Note-4) 146
- Central point 147
- Positioning 153
- 6 POSITIONING CONTROL 154
- 6. POSITIONING CONTROL 154
- 6.1.1 Positioning speed 154
- (1) 1 axis linear control 155
- 1 to V3) 158
- 1 to D4) 158
- Remarks 161
- (1) Current value address 162
- (3) Positioning control 163
- (1) Stop processing 164
- (2) Re-starting after stop 167
- (a) Direct specification 171
- (b) Indirect specification 171
- (1) System configuration 173
- (3) Operation timing 174
- (4) Servo program 174
- (5) Motion SFC program 174
- (3) Positioning conditions 178
- (4) Operation timing 178
- (5) Servo program 179
- (6) Motion SFC program 179
- 1, Y1 or Z1) based on 181
- 2, Y2, Z2) is executed 181
- Fig.6.7 Axis configuration 187
- Fig.6.10 Maximum arc 192
- Fig.6.12 Maximum arc 193
- (2) Positioning details 193
- Fig.6.14 Maximum arc 198
- Fig.6.16 Maximum arc 198
- Fig.6.19 Maximum arc 203
- Fig.6.22 Maximum arc radius 204
- (1) Servo program 212
- (2) Motion SFC program 213
- 6.13 Speed Control ( ) 242
- Fig.6.26 Speed control ( ) 242
- 6.14 Speed Control ( ) 246
- (2) Positioning conditions 254
- 6.16 Speed-Switching Control 261
- 6.17 Constant-Speed Control 274
- (a) M2040 is OFF 283
- (b) M2040 is ON 283
- (1) CPSTART1 288
- (2) CPEND 288
- (1) ABS-1/INC-1 288
- (1) System configuration 289
- (1) Skip signal devices 302
- PLC program 317
- 6.19 Simultaneous Start 319
- No.14 Axis 3 Speed control 320
- 6.20 JOG Operation 322
- 6.20.1 JOG operation data 322
- 6.20.2 Individual start 323
- (3) Motion SFC program 327
- Simultaneous start 330
- Input from manual 334
- Manual pulse generator P2 336
- Manual pulse generator P1 336
- 6.22 Home Position Return 337
- (4) Cautions 350
- [Cautions] 370
- [Data Setting] 372
- [Control details] 373
- (2) Servo program example 379
- 360[degree] 380
- Starting angle 380
- Amplitude 380
- 7.1 M-code Output Function 382
- (1) Setting of M-codes 382
- (3) Resetting of M-codes 383
- (4) Program example 384
- Feed screw 385
- Backlash compensation amount 385
- Workpiece 385
- 7.3 Torque Limit Function 387
- Torque limit value 388
- 7.4 Absolute Position System 389
- 7.4.1 Current Value Control 391
- . . . . . . 393
- 7.7.1 Cancel/start 397
- APPENDICES 398
- PPENDICES 399
- APPENDIX 1.3 Major errors 414
- APPENDIX 2.1 Special relays 435
- Table 2.1 Special relay list 436
- Year Month 440
- Example : July 1993 440
- H9307 440
- Day Hour 441
- Example : 31st, 10 a.m 441
- H3110 441
- No used 442
- APPENDIX 3 Example Programs 443
- APPENDIX 3.1 Reading M-code 443
- (1) Device range 446
- (2) Inputting device data 447
- (3) Axis status list 449
- (5) Common device list 451
- (11) Common device list 458
- (13) Special relay list 460
- (14) Special register list 460
- WARRANTY 461
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