5 SERVO PROGRAMS FOR POSITIONING CONTROL

5.2 Servo Instructions

The servo instructions used in the servo programs are shown below.

(1) Guide to servo instruction listTable. 5.1 Guide to Servo Instruction List

3)

4)

5)

6)

7)

8)

Positioning control

axes 1 axis

Instruction symbol

ABS-1

INC-1

ABS-2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Common

 

 

 

Circular

 

 

Processing

Parameterblock No.

Axis

Address/travel

Commandspeed

Dwell time

M-code

Torquelimit value

Auxiliarypoint

 

Radius

Central point

Pitch

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Virtual enable

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Number of step

1

1

 

1

1

1

1

1

1

 

1

1

1

 

Number of indirect words

1

 

 

 

2

2

1

1

1

2

 

2

2

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Absolute 1-axis positioning

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Incremental 1-axis positioning

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Absolute 2-axes linear

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1)

 

 

 

 

 

 

Positioning data

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

OSC

 

 

 

 

Parameter block

 

 

 

 

 

 

 

 

 

 

 

Other

 

 

 

 

 

 

 

Starting angle

 

Amplitude

 

Frequency

Reference axis No.

Control unit

 

Speed limit value

 

Acceleration time

 

Deceleration time

 

Rapid stop deceleration time

Torque limit value

 

Deceleration processing at stop input

Allowable error range for circular interpolation

 

S-curve ratio

Repeat condition

 

Program No.

 

Command speed (constant speed)

 

Cancel

 

Skip

FIN acceleration/deceleration

 

WAIT-ON/OFF

 

Fixed position stop acceleration /deceleration time

Fixed position stop

Number of steps

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

1

 

 

1

1

 

 

1

1

1

 

2

 

1

 

1

 

1

 

1

 

1

 

1

 

1

1

 

1

 

2

 

2

 

2

1

 

2

 

 

 

2

2

 

 

2

1

1

 

2

 

1

 

1

 

1

1

 

1

 

2

 

1

2

 

 

 

2

 

2

 

2

1

 

2

 

1

2

 

 

 

 

 

 

 

 

 

 

 

1/

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1(B)

 

1(B)

 

1(B)

 

1(B)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1(B)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

4 to 17

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

2)

Number

 

 

Description

1)

Instruction symbol

Gives the servo instructions usable in servo programs.

Processing

Gives the processing outlines of the servo instructions.

 

 

(a) Indicates positioning data which can be set in servo instructions.

 

1)

: Item which must be set (Data which cannot execute the servo instruction unless it sets.)

 

2)

: Item which is set when required (Data which will be controlled by the default value unless it sets.)

 

(b) Allows direct or indirect designation (except axis No.)

 

1)

Direct designation : Set with numerical value.

 

2) Indirect designation : Set with word device (D, W, #).

2)

 

• Servo program execution is controlled using the preset word device contents.

 

 

• Each setting item may either be 1 or 2 word data.

 

 

• For 2 word data, set the first device No..

 

(c) Number of steps

 

 

As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a

 

servo program is created.)

 

(The instruction +

item comprise the minimum steps, and one item increases the number of steps by 1.)

3)

Items common to the servo instructions

4)

Items set in circular interpolation starting servo programs

5)

Items set for high-speed oscillation

6)

Set when changing the parameter block (default value when not set) data set in the servo program to control.

(The parameter block data are not changed.)

 

7)Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)

8)Indicates the number of steps of each servo instruction.

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