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

 

<K

11>

 

 

 

 

 

 

 

 

 

 

ABS-3

 

 

 

 

 

 

Axis

1,

 

D3000

 

 

 

Axis

2,

 

D3004

Positioning

 

 

Axis

3,

 

W010

Combined-speed

40000.00

data

Dwell

 

 

W1B0

 

 

 

M-code

 

 

D3600

 

 

 

P.B.

 

 

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.

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