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 - 14
(5) Motion SFC program detail
Positioning device
P0
[F0]
//Status M2400 to M3039 (40 words) of each axis
//M2400 and after (No. 1 machine QnHCPU)
DIN W00L, M2400
DIN W02L, M2432
DIN W04L, M2464
DIN W06L, M2496
DIN W08L, M2528
DIN W0AL, M2560
DIN W0CL, M2592
DIN W0EL, M2624
DIN W10L, M2656
DIN W12L, M2688
DIN W14L, M2720
DIN W16L, M2752
DIN W18L, M2784
DIN W1AL, M2816
DIN W1CL, M2848
DIN W1EL, M2880
DIN W20L, M2912
DIN W22L, M2944
DIN W24L, M2976
DIN W26L, M3008
// Common device M2000 to M2063 (4 words)
// M3040 and following (No. 1 machine QnHCPU)
DIN W28L, M2000
DIN W2AL, M2032
// Special relay M9000 to M9015 (1 word)
// M3104 and following (No. 1 machine QnHCPU)
DIN W2C, M9000
// Special relay M9064 to M9079 (1 word)
// M31110 and following (No. 1 machine QnHCPU)
DIN W2D, M9064
[F1]
// Monitor device D0000 to D0639 (640 words)
// of each axis
//D000 and following (No. 1 machine QnHCPU)
BMOV W100, D0, K640
// Special register D9000 to D9015 (16 words)
//D640 and following (No. 1 machine QnHCPUCPU)
W380 = D9000
W381 = D9005
W382 = D9008
W384L = D9010L
W386L = D9012L
W388L = D9014L
// Special register D9182 to D9197 (16 words)
//D656 and following (No. 1 machine QnHCPU)
W38AL = D9182L
W38CL = D9184L
W38EL = D9186L
W390L = D9188L
W392L = D9190L
W394L = D9192L
W396L = D9194L
W398L = D9196L
P0
(1) The statuses M2400 to M3039 (for 32 axes) of each axis are
transferred to W0 and following.
(2) The common devices M2000 to M2064 are transferred to W28
and following.
(3) The special relays M9000 to M9015 are transferred to W2C
and following.
Since W0 and following of Q173CPU(N) (No. 2 machine) are so set
as to be refreshed to the statues (M2400 and following) of
QnHCPU (No. 1 machine) using the multi-CPU automatic refresh,
the QnHCPU (No. 1 machine) can grasp the status of Q173CPU(N)
(No. 2 machine) by monitoring the following devices.
QnHCPU
(No. 1 machine) Device
Device of corresponding
Q173CPU(N) (No. 2 machine)
M2400 to M3039 M2400 to M3039
M3040 to M3103 M2000 to M2064
M3104 to M3119 M9000 to M9015
* The data (for 32 axes) is refreshed in this sample example.
However, it is advised to minimize the number of refresh points
according to the system to shorten the time required for
processing.
(1) The monitor devices D0 to D639 (for 32 axes) of each axis are
transferred to W100 and following.
(2) The special registers D9000 to D9015 are transferred to W380
and following.
(3) The special resisters D9182 to D9197 are transferred to W38A
and following.
Since W100 and following of Q173CPU(N) (No. 2 machine) are so
set to be refreshed to the statues (D0 and following) of QnHCPU
(No. 1 machine) using the multi-CPU automatic refresh, for the
QnHCPU (No. 1 machine) to grasp the status of Q173CPU(N) (No.
2 machine) by monitoring the following devices.
QnHCPU
(No. 1 machine) Device
Device of corresponding
Q173CPU(N) (No. 2 machine)
D0000 to D0639 D0000 to D0630
D0640 to D0655 D9000 to D9015
D0656 to D0671 D9182 to D9197
* The data (for 32 axes) is refreshed in this sample example.
However, it is advised to minimize the number of refresh points
according to the system to shorten the time required for
processing.