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2 POSITIONING CONTROL BY THE MOTION CPU
[Execution of the servo program start (S(P).SVST instruction)]
Positioning control is executed by starting the specified servo program toward the axis
specified with S(P).SVST instruction of PLC CPU in the Motion CPU.
An overview of the starting method using the servo program is shown below.
Multiple CPU control system
PLC CPU
Create using a peripheral device
(Note-1)
PLC program . . . . .
<Example> SP.SVST instruction
Positioning execute command
SP
.
SVST
H3E3 K25
M0 D0"J3J4"
Device which stores the
complete status
Complete device
Servo program No.25
Starting axis No.3 and 4
Target CPU
Start request of the
servo program
Start request of the
servo program
1) The starting axis No. and servo program No. are set using the
S(P).SVST instruction in the PLC program.
2) When the S(P).SVST instruction is executed, the program of the
servo program No. is executed toward the specified axis.
(1) Create the servo programs and positioning control parameters using a peripheral
device.
(2) Perform the positioning start using the PLC program (S(P).SVST instruction) of
PLC CPU.
(a) Starting axis No. and servo program No. are specified with the S(P).SVST
instruction.
1) Servo program No. can be set either directly or indirectly.
(3) Perform the positioning control of specified servo program toward the specified
axis.