Specifications
Table Of Contents
- Coverpage
- Safety Instructions
- Revision History
- Contents
- Introduction
- 1 Outline
- 2 Explanation of Functions
- 3 Q-PLC Multi-CPU
- 4 Q Motion CPU
- 5 SFC Program
- 6 SV22 Servo Programs
- 6.1 Servo program
- 6.1.1 Servo program configuration
- 6.1.2 List of servo commands
- 6.1.3 Linear control
- 6.1.4 Circular interpolation control using auxiliary point designation
- 6.1.5 Circular interpolation control using radius designation
- 6.1.6 Circular interpolation control using center point designation
- 6.1.7 Fixed-dimension feed control
- 6.1.8 Speed control
- 6.1.9 Speed/position changeover control
- 6.1.10 Speed changeover control
- 6.1.11 Constant-speed control
- 6.1.12 Repeated control (for speed changeover control and uniform speed control)
- 6.1.13 Simultaneous start
- 6.1.14 Zero point return
- 6.1.15 Position follow-up control
- 6.1.16 High-speed oscillation control
- 6.1.17 Helical interpolation control with auxiliary point designated
- 6.1.18 Helical interpolation control with radius designated
- 6.1.19 Helical interpolation control with center point designated
- 6.1.20 Current value change
- 6.1 Servo program
- 7 Operation Control Program
- 8 Windows Personal Computer Operations
- 9 Basic Practice Using the SV22 Real Mode
- 10 Applied Practice with SV22 Real Mode
- 10.1 Details of practice
- 10.2 Q172CPU practice machine system configuration
- 10.3 Practice SFC programs
- 10.4 Writing to the motion CPU
- 10.5 Program for operation
- 10.5.1 JOG operation
- 10.5.2 Main routine SFC program (real mode operation)
- 10.5.3 Execution of servo program (motion control step)
- 10.5.4 Stopping
- 10.5.5 Error reset
- 10.5.6 Current value change
- 10.5.7 Speed change (CHGV)
- 10.5.8 Reading actual current value
- 10.5.9 Continuous positioning
- 10.5.10 M code function
- 10.5.11 Indirect setting of servo program address
- 10.6 Operating the practice machine
- 11 Practicing with the SV22 Virtual Mode
- 11.1 Mechanism program
- 11.2 Details of practice
- 11.3 Starting up SW3RN-CAMP and creating the cam
- 11.4 SFC program for virtual mode
- 11.5 Editing the mechanism
- 11.6 Writing to the motion CPU
- 11.7 Reading of sequence program from Q-PLC CPU
- 11.8 SFC program for practice
- 11.9 Practice machine operations
- 11.10 Exercise (Roller setting)
- Appendix
9 - 44
9.9 Program for operation
This operation sequence/SFC program has been prepared for the SW6RN-GSV22P
(for Q172).
The explanatory drawing of the practice machine’s operation panel, is shown in section
9.2.
9.9.1 Initialization
When the RUN/STOP switch of Q motion CPU is set to RUN, PLC READY (M2000)
will turn ON for the Q-PLC CPU.
Example of SFC program for when the all-axis servo is started upon reception of the
PCPU READY flag (M9074).
(1) Program example
Initialization
G2100
[Transition]
M9074*!M9075*M9076
F2100 F2101
SET M2042 RST M2042
F2102
[Operation control
step]
SET M200 = M2415*M2435
SET M201 = M2044
SET M205 = M2001
SET M206 = M2002
RST M200 = !M2415*!M2435
RST M201 = !M2044
RST M205 = !M2001
RST M206 = !M2002
M200 : M2415 and M2435 ON/OFF state M201 : M2044 ON/OFF state
M205 : M2001 ON/OFF state M206 : M2002 ON/OFF state
M2001 : Axis 1 start accept flag M2002 : Axis 2 start accept flag
M2042 : All-axis servo start command flag M2044 : Real/virtual mode changeover status
M2049 : All-axis servo ON accept flag M9074 : PCPU READY flag
M2415 : Axis 1 servo ready flag M2435 : Axis 2 servo ready flag
M9075 : Test mode flag M9076 : Emergency stop input flag
[Timing chart]
M2000
M9074
The parameters are checked.
The servo parameters are written to the servo amplifier.
The M code is cleared.
Set RUN/STOP switch to RUN
M2042 (all-axis servo start command flag) is
turned ON in the following cases.
• M9074 (PCPU READY flag): ON
• M9075 (Test mode flag): OFF
• M9076 (Emergency stop input flag): ON
The following signals are output to the M200,
M201, M205 and M206 set by automatic refresh.
• M2415 (Axis 1 servo ready flag) and M2435
(Axis 2 servo ready flag)
• M2044 (Real/virtual mode changeover status)
• M2001, M2002 (Axis 1, Axis 2 start accept
flag)
SFC program No.210