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
9 - 59
9.10.3 Monitor trace graph
The position command, position droop, motor speed, motor current, and speed
command, etc., can be traced with the SW6RN-DOSCP’s digital oscilloscope.
Each method differs as shown in the following table according to the communication
connection method. The method using an RS-232C connection is practiced in this
section.
PC real-time read method Motion buffering method
Items
SSCNET communication
SSCNET
communication
RS-232C/USB
communication
Communication method High-speed refresh communication Transient communication
Number of sampling points
8,192/data (max.)
(default value: 8192/data)
8,192/data (max.)
(default value: 2048/data)
Sampling cycle
3.5 × Nmsec (1 ≤ N ≤ 65535)
3.5msec (min.), 233.0sec (max.)
0.888 × Nmsec (1 ≤ N ≤ 65535)
0.888msec (min.), 58.253sec (max.)
Display of waveform during RUN ¡ ×
Temporary stop of screen during
RUN
¡
×
Zoom-enlargement of screen
during RUN
¡ ×
Waveform display method Scroll method to display updated data
Data is read in a batch after STOP and
displayed in a waveform.
Trigger function
(filter designation)
Filter time value: 3.5 × Nmsec
(N: 0 to 65535)
Filter time value: 0.888 × Nmsec
(N: 0 to 65535)
Buffering method for sampling
data
Data sent from motion CPU is
buffered every 3,555ms at PC side.
Data is buffered at motion CPU side until
STOP is requested or trigger is established.
Judgment of trigger condition for
establishment
Judgment at PC side Judgment at motion CPU side
Stop/interrupt during buffering
When the STOP is clicked, the
buffering is stopped. (It is unnecessary
to interrupt the buffering.)
STOP (stop)
• The buffering stop request is sent, and the
buffered data is read in a batch.
INTERRUPT
• While buffering is executing
The buffering stop request is sent, but the
data is not read.
• While the data is reading in a batch
The data reading is interrupted, and the
waveform is not displayed.
• The file is not saved. (Automatic saving by
establishment of trigger)
IRQ setting at SNETP Required Required Not required
(1) Communication setting
1) Click on [Start], [Program], [SWnRNC-GSV],
[SW6RN-GSV], [SW6RN-DOSCP] and then [Digital
oscilloscope] in Windows.
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