2 POSITIONING CONTROL BY THE MOTION CPU

(1) Positioning control parameters

There are following seven types as positioning control parameters.

Parameter data can be set and corrected interactively using a peripheral device.

 

Item

Description

Reference

1

System settings

Multiple system settings, Motion modules and axis No., etc. are set.

Section

4.1

 

 

 

 

Fixed

Data by such as the mechanical system are set for every axis.

Section

2

They are used for calculation of a command position at the

 

parameters

positioning control.

4.2

 

 

 

 

Servo

Data by such as the servo amplifier and motor type with connected

 

3

servomotor are set for every axis.

(Note-1)

parameters

 

 

They are set to control the servomotors at the positioning control.

 

4

Home position

Data such as the direction, method and speed of the home position

Section

 

return data

return used at the positioning control are set for every axis.

6.23.1

5

JOG operation

Data such as the JOG speed limit value and parameter block No.

Section

 

data

used at the JOG operation are set for every axis.

6.21.1

 

 

Data such as the acceleration, deceleration time and speed control

 

 

 

value at the positioning control are set up to 16 parameter blocks.

 

6

Parameter block

They are set with the servo program, JOG operation data and home

Section

 

 

position return data, and it is used to change easily the

4.3

 

 

acceleration/deceleration processing (acceleration/deceleration time

 

 

 

and speed limit value) at the positioning control.

 

 

Limit switch

Output device, watch data, ON section, output enable/disable bit and

 

7

forced output bit used for the limit output function for every limit

(Note-2)

output data

 

 

output are set.

 

(Note-1): Refer to Section 3.3 of the "Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON)".

(Note-2): Refer to Section 4.1 of the "Q173HCPU/Q172HCPU Motion controller Programming Manual (COMMON)".

(2) Servo program

The servo program is used for the positioning control in the Motion SFC program. The positioning control by servo program is executed using the Motion SFC program and Motion dedicated PLC instruction (Servo program start request (S(P).SVST)) .

It comprises a program No., servo instructions and positioning data. Refer to Chapter 5 for details.

•Program No. ............... It is specified using the Motion SFC program and Motion dedicated PLC instruction.

•Servo instruction ......... It indicates the type of positioning control.

•Positioning data .......... It is required to execute the servo instructions.

The required data is fixed for every servo instruction.

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