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 - 18
(2) Event task
The event task is used to execute the SFC program when an event occurs.
The event includes the following:
(a) Constant cycle
The SFC program is executed periodically at a cycle of 0.8ms, 1.7ms, 3.5ms,
7.1ms or 14.2ms.
(b) External interrupt (16 points of I0 to I15)
The SFC program is executed when the QI16 (16-point interrupt unit
mounted in motion slot) input set to the event task turns ON.
(c) PLC interrupt
The SFC program is executed when the GINT command is executed by the
sequence program for another units Q-PLC CPU.
POINT
(1) It is possible to set the multiple events in one SFC program. However, multiple
constant cycles cannot be set.
(2) The motion control step cannot be executed during an event task.
(3) NMI task
The SFC program is executed when the external interrupt (16 points of QI60)
input set for the NMI task turns ON.
POINT
(1) The NMI task has the highest priority in normal task/event task/NMI task.
(2) Even if the event task prohibit (DI) is executed by the normal task, the NMI
task interrupt is not masked, but is executed.
(4) Execution status example
The following shows an SFC program execution example when the SFC program
is executed by multiple tasks.
NMI task execution program
3.5ms event task execution program
Normal task execution program
3.5ms
NMI interrupt
NMI interrupt
When there is a program to be executed by the NMI task, a program to be
executed by the 3.5ms constant cycle event task and a program to be executed
by the normal task, each task is executed as shown below.
(a) 3.5ms constant cycle event task is executed every 3.5ms
(b) NMI task is executed at highest priority when the NMI interrupt is input
(c) Normal task is executed during dead time