Specifications
Table Of Contents
- Coverpage
- Safety Instructions
- Revision History
- Contents
- Introduction
- 1 Outline
- 2 Explanation of Functions
- 3 Q-PLC Multi-CPU
- 4 Q Motion CPU
- 5 SFC Program
- 6 SV22 Servo Programs
- 6.1 Servo program
- 6.1.1 Servo program configuration
- 6.1.2 List of servo commands
- 6.1.3 Linear control
- 6.1.4 Circular interpolation control using auxiliary point designation
- 6.1.5 Circular interpolation control using radius designation
- 6.1.6 Circular interpolation control using center point designation
- 6.1.7 Fixed-dimension feed control
- 6.1.8 Speed control
- 6.1.9 Speed/position changeover control
- 6.1.10 Speed changeover control
- 6.1.11 Constant-speed control
- 6.1.12 Repeated control (for speed changeover control and uniform speed control)
- 6.1.13 Simultaneous start
- 6.1.14 Zero point return
- 6.1.15 Position follow-up control
- 6.1.16 High-speed oscillation control
- 6.1.17 Helical interpolation control with auxiliary point designated
- 6.1.18 Helical interpolation control with radius designated
- 6.1.19 Helical interpolation control with center point designated
- 6.1.20 Current value change
- 6.1 Servo program
- 7 Operation Control Program
- 8 Windows Personal Computer Operations
- 9 Basic Practice Using the SV22 Real Mode
- 10 Applied Practice with SV22 Real Mode
- 10.1 Details of practice
- 10.2 Q172CPU practice machine system configuration
- 10.3 Practice SFC programs
- 10.4 Writing to the motion CPU
- 10.5 Program for operation
- 10.5.1 JOG operation
- 10.5.2 Main routine SFC program (real mode operation)
- 10.5.3 Execution of servo program (motion control step)
- 10.5.4 Stopping
- 10.5.5 Error reset
- 10.5.6 Current value change
- 10.5.7 Speed change (CHGV)
- 10.5.8 Reading actual current value
- 10.5.9 Continuous positioning
- 10.5.10 M code function
- 10.5.11 Indirect setting of servo program address
- 10.6 Operating the practice machine
- 11 Practicing with the SV22 Virtual Mode
- 11.1 Mechanism program
- 11.2 Details of practice
- 11.3 Starting up SW3RN-CAMP and creating the cam
- 11.4 SFC program for virtual mode
- 11.5 Editing the mechanism
- 11.6 Writing to the motion CPU
- 11.7 Reading of sequence program from Q-PLC CPU
- 11.8 SFC program for practice
- 11.9 Practice machine operations
- 11.10 Exercise (Roller setting)
- Appendix
7 - 10
Reading of data from shared memory of other machine: MULTR
Format Setting data Contents Result data type
(D)
Head No. of device in which data read is
stored
(S1)
Head input No. of Q-CPU, motion-CPU to
read
(S2)
Head address of shared memory of data to
read
MULTR (D), (S1), (S2), (n)
(n) Number of reading data items
–
(1) The (n) word of data is read from the address designated by (S2) of the CPU’s
shared memory of other machine CPU designated by (S1) to store it in and after
the device designated by (D).
(2) When the reading of data from designated object machine is completed properly,
the "Reading completed" flag corresponding to the object machine is turned ON.
(3) When the MULTR command is executed last to the same machine, the "Reading
completed" flag of the object machine is turned ON/OFF depending on the results
of MULTR executed last.
(4) Since the processing time increases in proportion to the number of reading data
items (n), it is recommended to execute the processing to the normal task or
event task (7.1ms or over), so as not to obstruct the motion operation.
Program example
Program to shift to succeeding step after reading 2-word from the No.1 machine’s
shared memory C00H to #0
C00
C01
100
200
#0
#1
100
200
2-word transfer
F0
MULTR #0, H3E0, HC00, K2
G0
M9216