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2 POSITIONING CONTROL BY THE MOTION CPU
2
2. POSITIONING CONTROL BY THE MOTION CPU
2.1 Positioning Control by the Motion CPU
The positioning control of up to 32 axes in Q173HCPU and up to 8 axes in Q172HCPU
is possible in the Motion CPU.
There are following four functions as controls toward the servo amplifier/servomotor.
(1) Servo operation by the positioning instructions.
There are following two methods for execution of the positioning instruction.
(a) Programming using the motion control step "K" of Motion SFC.
The starting method of Motion SFC program is shown below.
1) Motion SFC start request (S(P).SFCS) of PLC CPU
2) Automatic start setting of Motion SFC program
(Note): Step "K" of the positioning instruction cannot be programmed to
NMI task and event task.
3) Start by the Motion SFC program (GSUB)
(b) Execution of servo program by the servo program start request (S(P).SVST) of
PLC CPU.
(2) JOG operation by the each axis command signal of Motion CPU.
(3) Manual pulse generator operation by the positioning dedicated device of Motion
CPU.
(4) Speed change and torque limit value change during positioning control by the
Motion dedicated PLC instruction (S(P).CHGV, S(P).CHGT) and Motion dedicated
function (CHGV, CHGT) of operation control step "F".
(Note): Refer to the "Q173HCPU/Q172HCPU Motion controller(SV13/SV22)
Programming Manual (Motion SFC)" for the Motion dedicated PLC
instruction.