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3 POSITIONING DEDICATED SIGNALS
(12) Data set pointer for constant-speed control (D15+20n)
....…….. Monitor device
This pointer is used in the constant-speed control when specifying positioning
data indirectly and substituting positioning data during operation.
It stores a "point" that indicates which of the values stored in indirect devices has
been input to the Motion CPU when positioning is being repeated by using a
repetition instructions (FOR-TIMES, FOR-ON or FOR-OFF).
Use this pointer in conjunction with the updated data set pointer (controlled by
the user in the Motion SFC program) - which indicates the extent to which the
positioning data has been updated using the Motion SFC program - to confirm
which positioning data is to be updated.
Data set pointer for constant-speed control and updated data set pointer are
described here using the example servo program below.
CPSTART2
Axis
Axis
Speed
FOR-TIMES
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
NEXT
CPEND
<K 0>
1
2
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
D3200
D3000
D3002
D3004
D3006
D3008
D3010
D3012
D3014
D3016
D3018
D3020
D3022
D3024
D3026
D3028
D3030
9
*
1
2
3
4
5
6
7
8
*
9
. . . 0
. . . 1
. . . 2
. . . 3
. . . 4
. . . 5
. . . 6
. . . 7
Point
Repetition instructions
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
0, 1, 2, etc., starting from the
first instructions defined by th
e
above repetition instructions :
Pass point
The input situation of positioning data to the Motion CPU is shown the next page
by executing the 2-axes constant-speed control using above the servo program
and updating the positioning data in indirect devices D3000 to D3006.