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9 SERVO PROGRAMS FOR POSITIONING CONTROL
9.3 Positioning Data
The positioning data set in the servo programs is shown in Table 9.3.
Refer to "Q173DCPU/Q172DCPU Motion controller (SV13/SV22) Programming
Manual (REAL MODE)" for details.
Name
• Set based on which parameter block to use
Parameter block
during both acceleration/ deceleration
No.
processing and STOP input.
• Set the starting axis.
Axis
• The interpolation starting axis No. during
interpolation.
Absolute data
Address
method
Incremental
Travel
data method
value
• Sets the positioning speed.
• Units for speed are the "control units" set in
the parameter block.
Command speed
• Becomes either vector speed long-axis
reference speed or reference axis speed
during interpolation moves. (PTP control
only)
• The time until the positioning complete signal
Dwell time
(M2401+20n) is output after reaching the
positioning address.
• Set the M-code.
• Set for each point at the speed-switching
M-code
control and constant-speed control.
• Updated it at the start or at a specified point.
• Set the torque limit value.
• The torque limit is performed based on the
starting parameter block data. Speed-
Torque limit value
switching control can be set for each point
and torque limit values can be set at specific
points.
Table 9.3 Positioning data
Explanation
Set the positioning address as an
absolute address.
Set the positioning address as an
incremental travel value. Travel
direction is indicated by the sign.
Only positive settings can be made
during speed/position control.
Positive : Forward rotation
(address increase direction)
Negative: Reverse rotation
(address decrease direction)
Setting value using MT Developer2
Default
value
mm
1
-214748364.8
-21474.83648
to 214748364.7
[ µ m]
21474.83647
Expect for the speed/position switching control
Speed/position switching control
0 to
214748364.7
21474.83647
[ µ m]
0.01 to
6000000.00
600000.000
[mm/min]
[inch/min]
0[ms]
0
Torque limit
setting
valued [%]
in the
parameter
block
9 - 16
Setting range
inch
degree
1 to 64
(Note-6)
1 to 32
-2147483648
to
0 to 359.99999
2147483647
0 to 2147483647
0 to
0 to
21474.83647
2147483647
0.001 to
0.001 to
2147483.647
2147483647
[degree/min]
(Note-5)
0 to 5000[ms]
0 to 32767
1 to 1000[%]
PLS
to
0 to
1 to
[PLS/s]
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