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
4 - 12
4.2.7 Parameter block
The parameter block is used to determine the acceleration time, deceleration time and
torque limit value, etc., used for zero point return operation, JOG operation and
positioning with the servo program.
The parameter blocks are No. 1 to No. 16.
The data to be set is shown below.
Setting range Default
mm inch degree PULSE
No. Item
Setting range Units Setting range Units Setting range Units Setting range Units
Initial value Units
Remarks
1
CONTROL
UNIT
0 – 1 – 2 – 3 – 3 –
• Set the units for compensation
control.
• Can also be used as the units for
the command speed and allowable
error range for circular interpolation
set in the servo program.
2
SPEED
RESTRICTION
*
1
0.01 to
6000000.00
mm/
min
0.001 to
600000.000
inch/
min
0.001 to
2147483.647
degree/
min
1 to 1000000
PLS/
s
200000
PLS/
s
• Sets the maximum speed for
positioning/zero point return.
• If the positioning speed or zero
point return speed setting exceeds
the speed limit value, control is
executed at the speed limit value.
3
ACCELERA-
TION TIME
1 to 65535ms 1000 ms
• Set the time taken to reach the
speed limit value from the start of
motion.
4
DECELERA-
TION TIME
1 to 65535ms 1000 ms
• Set the time taken to stop from the
speed limit value.
5
SHORT STOP
TIME
1 to 65535ms 1000 ms
• Set the time taken to stop from the
speed limit value when a rapid stop
is executed.
6 S RATIO 0 to 100% 0 %
• Set the S curve ration for S pattern
processing.
• When the S curve ratio is 0%,
trapezoidal acceleration/
deceleration processing is
executed.
7
TORQUE
LIMIT*
1
1 to 500% 300 %
• Set the torque limit value in the
servo program.
8
STOP
METHOD
0: Deceleration stop executed based on the deceleration time
1: Deceleration stop executed based on the rapid stop deceleration time
0 –
• Set the deceleration processing
when external signals (STOP, FLS,
RLS) are input.
9
CIRCULAR
ERROR
RANGE
0 to 10000.0 µm 0 to 1.00000 inch 0 to 1.00000 degree 0 to 100000 PLS 100 PLS
• Set the permissible range for the
locus of the arc and the set end
point coordinates.
*
1
Not used for virtual mode. (Invalid)
POINT
(1) Parameter blocks are designated in the zero point return data, JOG operation data, or servo program.
(2) The various parameter block data can be changed in the servo program
As shown below the speed limit value is used as the base. If the positioning command speed is lower than
the speed limit value, the actual acceleration time or actual deceleration time will be shorter than the
commanded time.
Speed limit value
Positioning speed
t
Actual deceleration time
Command deceleration time
Actual acceleration time
Command acceleration time
V
When the positioning command speed is faster than the speed limit value, the axis will move at the speed
limit value speed.
Acceleration time, deceleration time, sudden stop time