Specifications

-2-
4.3.3 Data registers D0 to D1315 (For Q172) ........................................................................................ 4-20
4.3.4 Special relays M9073 to M9079, M9104, M9105.......................................................................... 4-24
4.3.5 Special registers D752 to D799, D9017, D9019, D9104, D9180 to D9199 (For Q172) ............... 4-24
4.4 Motion SFC dedicated devices............................................................................................................. 4-26
4.4.1 Motion registers (#0 to #8191)....................................................................................................... 4-26
4.4.2 Coast timer (FT)............................................................................................................................. 4-29
Chapter 5 SFC Program 5-1 to 5-20
5.1 SFC program configuration .................................................................................................................... 5-1
5.2 List of SFC symbols................................................................................................................................ 5-2
5.3 List of branch/connection diagrams........................................................................................................ 5-4
5.4 SFC program name................................................................................................................................ 5-5
5.5 Steps....................................................................................................................................................... 5-6
5.5.1 Motion control step .......................................................................................................................... 5-6
5.5.2 Operation control step ..................................................................................................................... 5-7
5.5.3 Subroutine call/start step ................................................................................................................. 5-8
5.5.4 Clear step......................................................................................................................................... 5-9
5.6 Transition.............................................................................................................................................. 5-10
5.7 Jump/pointer......................................................................................................................................... 5-11
5.8 END ...................................................................................................................................................... 5-11
5.9 Branch/connection................................................................................................................................ 5-12
5.9.1 Parallel shifting............................................................................................................................... 5-12
5.9.2 Selective branch/connection.......................................................................................................... 5-13
5.9.3 Parallel branch/parallel connection................................................................................................ 5-14
5.10 Y/N transition ...................................................................................................................................... 5-15
5.11 Task operation.................................................................................................................................... 5-17
5.12 SFC parameters ................................................................................................................................. 5-19
5.12.1 Task parameters.......................................................................................................................... 5-19
5.12.2 Program parameters.................................................................................................................... 5-19
5.13 SFC program start method................................................................................................................. 5-20
5.14 SFC program end method.................................................................................................................. 5-20
Chapter 6 SV22 Servo Programs 6-1 to 6-24
6.1 Servo program........................................................................................................................................ 6-1
6.1.1 Servo program configuration ........................................................................................................... 6-1
6.1.2 List of servo commands................................................................................................................... 6-2
6.1.3 Linear control ................................................................................................................................... 6-8
6.1.4 Circular interpolation control using auxiliary point designation ....................................................... 6-9
6.1.5 Circular interpolation control using radius designation..................................................................6-10
6.1.6 Circular interpolation control using center point designation......................................................... 6-11
6.1.7 Fixed-dimension feed control ........................................................................................................ 6-12
6.1.8 Speed control................................................................................................................................. 6-12
6.1.9 Speed/position changeover control ............................................................................................... 6-13
6.1.10 Speed changeover control........................................................................................................... 6-14
6.1.11 Constant-speed control................................................................................................................ 6-15
6.1.12 Repeated control (for speed changeover control and uniform speed control)............................ 6-16
6.1.13 Simultaneous start....................................................................................................................... 6-17