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
5 - 8
5.5.3 Subroutine call/start step
Call/start the SFC program of designated program name.
Program name
(1) Description of operation
(a) The designated SFC program is called and started.
(b) The control may differ depending on the type of transition connected after
the subroutine call/start step.
• WAIT ......................... Subroutine call
• Other than WAIT ........ Subroutine start
MAIN
SUB
WAIT
END
SUB
END
(1)
(2)
(5)
(3)
(4)
MAIN
SUB
Shift
END
SUB
END
(1)
(2)
(2)
(3)
In case of WAIT (subroutine call) In case of other than WAIT (subroutine start)
(2) Error
In the following case, an error will occur and execution of the SFC program will
stop.
(a) When the designated SFC program does not exist in the called or started
subroutine.
(b) When the called/started SFC program has already been started in a calling/
starting subroutine.
(c) When the local program is called or started in a called or started subroutine.
(3) Precautions
(a) The depth of nesting for subroutine call/start is not limited.
(b) For subroutine start, the start source SFC program is executed continuously
even if the start destination SFC program is stopped due to error.
(c) When the call destination SFC program is stopped due to error in case of
subroutine call, the execution of calling source SFC program is interrupted at
the error.