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5 SERVO PROGRAMS FOR POSITIONING CONTROL
(1) Devices for indirect setting data
The devices for indirect setting data are data registers (D), link registers (W) and
motion registers (#). (Word devices except the data registers, link registers and
motion registers cannot be used.)
The usable data registers are shown in the table below.
Word device Usable devices
D 800 to 8191
W 0 to 1FFF
# 0 to 7999
ABS-3
Axis 1,
Axis 2,
Axis 3,
Combined-speed
Dwell
M-code
P.B.
Positioning
data
<K 11>
D3000
D3004
W010
40000.00
W1B0
D3600
3
Indirect setting by word device
Execute the positioning control by the data of
(D3001, D3000), (D3005, D3004), (W11, W10),
W1B0 and D3600.
Numerical value setting
Axis No. cannot be set indirectly by word device.
Fig. 5.4 Example of setting positioning data by numerical value setting
(2) Inputting of positioning data
In indirect setting by word devices, the word device data is inputted when the
servo program is executed using the Motion CPU.
It must be executed the start request of the servo program after data is set in the
device used for indirect setting at the positioning control.
POINTS
(1) Indirect setting by word devices of the axis No. cannot be set in the servo
program.
(2) Take an interlock by using a start accept flag (M2001 to M2032) not to change
the device data for indirect setting until the specified axis has accepted the start
command.
If the data is changed before the start command is accepted, positioning may
not be controlled in a normal value.