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9 SERVO PROGRAMS FOR POSITIONING CONTROL
9.2 Servo Instructions
Instruction
Processing
symbol
Virtual enable
Number of step
Number of indirect words
ABS-1
Absolute 1-axis positioning
INC-1
Incremental 1-axis positioning
Absolute 2-axes linear
ABS-2
1)
Number
Instruction symbol
1)
Processing
(a) Indicates positioning data which can be set in servo instructions.
1)
: Item which must be set by the user (The servo instruction can not execute unless this data is set by the user.)
2)
: Item which is set when required by user (Data is set to the default value unless otherwise set by user.)
(b) Allows direct or indirect designation (except axis No.)
1) Direct designation : Set with numerical value.
2) Indirect designation : Set with word device.
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 start device No..
(c) Number of steps
The more set items there are, the more the number of instruction steps. (The number of steps is displayed when the
servo program is created.)
(The instruction +
3)
Items common to the servo instructions
4)
Items set in circular interpolation servo programs
5)
Items set for high-speed oscillation
Set when wishing to deviate from data set in the parameter block used in the servo program (left at default parameter block
6)
value when not set)
(The parameter block data remains unchanged in other servo programs.)
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.
The servo instructions used in the servo programs are shown below.
Refer to the "Q173DCPU/Q172DCPU Motion Controller (SV13/SV22) Programming
Manual (Motion SFC)" for details of the current value change control (CHGA, CHGA-E,
CHGA-C).
(1) Guide to servo instruction list
Table 9.1 Guide to Servo Instruction List
3)
Common
Arc/Helical
1
1
1
1
1
1
1
1
1
2
2
1
1
1
2
Lists the servo instructions usable in servo programs.
Lists the processing outlines of the servo instructions.
item comprise the minimum steps, and one
4)
5)
Positioning data
OSC
Parameter block
1
1
1
1
1
1
1
1
2
1
2
2
1
2
2
2
1
1
2
1
2)
Description
item increases the number of steps by 1.)
9 - 3
6)
1
1
1
1
1
1
1
1
2
2
1
1
1
1
2
1
2
1/
1(B) 1(B)
1(B)
7)
8)
Other
2
1
2
1
1
1
1
1(B)
1(B)
4 to 17
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