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
A - 10
Appendix 2 Sample motion SFC
The sample program stops all motion control upon reception of emergency stop input,
and re-starts motion control when reset. This sample program also monitors the
dedicated positioning devices on the PLC side.
(1) Sample program functions
This sample program is provided with the following functions.
No. Item Contents
1 Monitor of dedicated positioning
device
Reflects the status of Q173CPU(N) and dedicated positioning device
(#2 machine) in the M2400 and following, and D0 and following of
QnHCPU (#1 machine).
2 Clock data reading Turns ON the clock data read request (M9028) so that the clock data is
set in the error history.
3 Emergency stop Turns ON the servo for all axes when the emergency stop input
assigned to PX0 is turned ON (emergency stop reset), and executes
motion control.
Stops the servo amplifier in an emergency state when the emergency
stop input is turned OFF and stops the motion control. The actual
output (PY) is also turned OFF.
4 Motion control Executes the motion control in each mode shown below according to
the status of PX1, PX2.
•
PX2:OFF PX1:OFF "JOG mode"
•
PX2:OFF PX1:ON "Manual pulse generator mode"
•
PX2:ON PX1:OFF Zero point return mode"
•
PX2:ON PX1:ON Program operation mode"
5 JOG mode Executes the following JOG operations when the signals PX3 to PX6
are turned ON.
•
PX3: 1-axis forward JOG
•
PX4: 1-axis reverse JOG
•
PX5: 2-axis forward JOG
•
PX6: 2-axis reverse JOG
6 Manual pulse generator mode Executes the following manual pulse generator operation.
•
Executes the manual pulse generator operation of 1-axis with
manual pulse generator P1.
•
Executes the manual pulse generator operation of 2-axis with
manual pulse generator P2.
7 Zero point return mode Executes the following zero point return.
•
When the PX3 is turned ON, the 1-axis is returned to the zero point.
•
When the PX4 is turned ON, the 2-axis is returned to the zero point.
8 Program operation mode Executes the following program operations.
•
Waits for 1,000ms when the PX3 is detected to change from OFF
to ON after the 1-axis is positioned to position the 2-axis.
•
Executes the in-position check when the PX4 is turned ON afte
the 1-axis and 2-axis positioned for linear interpolation to position
the 1-axis and 2-axis for linear interpolation, and to wait until the
PX4 is turned OFF.