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
6 - 1
Chapter 6 SV22 Servo Programs
6.1 Servo program
The servo program is used to designate the type of positioning control and the
positioning data required for carrying out positioning control. The servo program
configuration and designation methods are explained in this section.
With the SV13 and SV22, the servomotor is controlled with this servo program.
However, the servo commands that can be used are listed in the "List of servo
commands".
6.1.1 Servo program configuration
One servo program is configured of the parts (1) to (3) shown below.
(1) Program No
. ........................ This number designates the start request in the
sequence program. A random number between 0
and 4095 can be set.
(2) Servo command
.................. This indicates the type of positioning control.
(3) Positioning data
.................. This is data required to execute the servo
commands. The data required for execution is
determined or each servo command.
ABS-2
AXIS 1,
AXIS 2,
20000.0
5000.00
20000.0
100
3
2
100
SYN. SPEED
DWELL
M CODE
P.B
S RATIO
(µm)
(µm)
(mm/min)
(ms)
(%)
<K11>
Program No.
Servo instruction
Positioning data
Data other than the axis No. can be
indirectly designated with a word
device (D, W).
P.B. indicates the parameter block
(Operated at block 1 unless it is
set.)
(4) Servo program area
1) The servo program area is used to store the servo program created with a
peripheral device. The memory in the positioning CPU is large enough to
store 14334 steps (14K steps), and is backed up by the SRAM battery.
(This is not the sequence program storage internal memory.)
0 to 4095