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5 SERVO PROGRAMS FOR POSITIONING CONTROL
5. SERVO PROGRAMS FOR POSITIONING CONTROL
Servo programs specify the type of the positioning data required to execute the
positioning control in the Multiple CPU system.
This chapter describes the configuration and setting method of the servo programs.
Refer to Chapter "6 POSITIONING CONTROL" for details of the servo program.
5.1 Servo Program Composition Area
This section is described the composition of servo programs and the area in which
stores the servo program.
5.1.1 Servo program composition
A servo program is composed a program No., servo instructions and positioning data.
When a program No. and the required servo instructions are specified using a
peripheral device, the positioning data required to execute the specified servo
instructions can be set.
[Explanation of the program]
K11 . . . . . . . Program No.11
ABS-3 . . . . . 3 axes linear interpolation control as absolute
data method.
Axis1, 3000000.0
Axis2, 5500000.0
...
Axis used and positioning address
Axis3, -2500000.0
Used axes Positioning address
1
3000000.0[
µ
m]
2
5500000.0[
µ
m]
3
-2500000.0[
µ
m]
Program No.
Servo instruction
Positioning
data
<K 11>
ABS-3
Axis 1,
Axis 2,
Axis 3,
Combined speed
Dwell
M-code
P.B.
3000000.0
5500000.0
-2500000.0
40000.00
2500
12
3
Control units
[mm]
[mm]
[mm]
[mm/min]
[ms]
Number of program steps 10
Number of used programs 20/13312
• Combined speed ……… Command speed for the 3 axes
(axis 1, axis 2, axis 3) combination
40000.00 [mm/min]
• Dwell ……………………. Dwell time 2500 [ms]
• M-code …………………. M-code 12
• P.B. ……………………... Parameter block No. 3
Fig. 5.1 Composition example of servo program
(1) Program No. ........... This No. is specified using the Motion SFC program.
Any No. in the range of 0 to 4095 can be set.
(2) Servo instruction .… Type of positioning control is indicated.
Refer to Section 5.2 for details.
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