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
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4.3.4 Special relays M9073 to M9079, M9104, M9105
The Q172CPU(N) has 256 special relay points M9000 to M9255.
Of these points, the nine points M9073 to M9079, M9104 and M9105 are used for
positioning control with applications determined as shown below.
Applicable mode
Device No. Signal name
Real Virtual
M9073 PCPU WDT error flag
M9074 PCPU READY completion flag
M9075 Test mode flag
M9076 Emergency stop input flag
M9077 Manual pulse generator axis setting error flag
M9078 Test mode request error flag
M9079 Servo program setting error flag
M9104 Servo parameter read request flag
M9105 Servo parameter read flag
4.3.5 Special registers D752 to D799, D9017, D9019, D9104, D9180 to D9199 (For Q172)
The Q172CPU(N) has 256 special register points D9000 to D9255.
Of these points, the 71 points D752 to D799, D9017, D9019, D9104 and D9180 to
D9199 are used for positioning control with applications determined as shown below.
Applicable mode
Device No. Signal name
Real Virtual
D752 Manual pulse generator (P1) smoothing magnification setting area
D753 Manual pulse generator (P2) smoothing magnification setting area
D754 Manual pulse generator (P3) smoothing magnification setting area
D755 Manual pulse generator 1 permit flag set request
D756 Manual pulse generator 2 permit flag set request
D757 Manual pulse generator 3 permit flag set request
D758 Unusable
D759
PCPU READY flag status
(0: OFF/1: ON)
D760 to D791 Unusable ––
D792 to D799 Servo amplifier type
D9017 Current main cycle
D9019 Maximum main cycle
D9104 Servo parameter read request axis No.
D9180 to D9181 Unusable ––
D9182 to D9183 Test mode request error
D9184 Motion CPU WDT error factor
D9185 to D9187 Manual pulse generator axis setting error
D9188 Motion operation cycle
D9189 Error program number
D9190 Servo program setting error output
D9191 to D9192 Servo amplifier mounting information
D9193 to D9195 Unusable ––
D9196 PC link communication error
D9197 Motion setting operation cycle
D9198 to D9199 Unusable ––