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 - 2
6.1.2 List of servo commands
The commands listed below are available, but the usage validity differs according to
the CPU OS.
Positioning data
Common settings Circular/helical Parameter block
Positioning
control
Instruction
symbol
Processing details
Number of steps
Parameter block No.
Axis
Address/Travel value
Command speed
Dwell time
M code
Torque limit value
Auxiliary point
Radius
Center point
Number of pitches
Control unit
Speed limit value
Acceleration time
Deceleration time
Sudden stop
deceleration time
Torque limit value
Deceleration processing
on STOP input
Allowable error range
for circular interpolation
S curve ratio
ABS-1
Absolute 1-axis
positioning
4 –––––– –
1-axis
INC-1
Incremental 1-axis
positioning
4
–––––– –
ABS-2
Absolute 2-axis linear
interpolation
5 ––––– –
2-axis
INC-2
Incremental 2-axis liner
interpolation
5
––––– –
ABS-3
Absolute 3-axis linear
interpolation
7 ––––– –
3-axis
INC-3
Incremental 3-axis linear
interpolation
7
––––– –
ABS-4
Absolute 4-axis linear
interpolation
8 ––––– –
Linear control
4-axis
INC-4
Incremental 4-axis linear
interpolation
8
––––– –
ABS
Absolute circular
interpolation by auxiliary
point designation
7
– ––– –
Auxiliary
point
designation
INC
Incremental circular
interpolation by auxiliary
point designation
7
– ––– –
ABS
Absolute circular inter-
polation by radius desig-
nation, within CW180°
6
–– –– –
ABS
Absolute circular interpola-
tion by radius designation,
CW180° and greater
6
–– –– –
ABS
Absolute circular interpola-
tion by radius designation,
within CCW180°
6
–– –– –
ABS
Absolute circular interpola-
tion by radius designation,
CCW180° and greater
6
–– –– –
INC
Incremental circular inter-
polation by radius desig-
nation, within CW180°
6
–– –– –
INC
Incremental circular inter-
polation by radius desi
g
na-
tion, CW180° and greater
6 –– –– –
INC
Incremental circular inter-
polation by radius desi
g
na-
tion, within CCW180°
6 –– –– –
Radius
designation
INC
Incremental circular inter-
polation by radius designa-
tion, CCW180° and greater
6
–– –– –
ABS
Absolute circular
interpolation by center
point designation, CW
7
–––
–
–
ABS
Absolute circular
interpolation by center
point designation, CCW
7
–––
–
–
INC
Incremental circular
interpolation by center
point designation, CW
7
–––
–
–
Circular interpolation control
Center
point
designation
INC
Incremental circular
interpolation by center
point designation, CCW
7
–––
–
–
Operates as one block if not set : Item that must be set
: Item set as necessary
– : Item that cannot be set
* : Possible
<Number of steps>
The number of steps in each command is the value when the
mark items are set.
The step is decremented by one each time a
mark item is set.