Chapter 4 Servo Programs For Positioning Control; Servo Program Composition Area; Servo Program Composition - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

4
SERVO PROGRAMS FOR POSITIONING
CONTROL
Servo programs specify the type of the positioning data required to execute the positioning control in the Multiple CPU
system. This chapter describes the configuration and setting method of the servo programs.
Refer to the positioning control for details of the servo program. (Page 250 POSITIONING CONTROL)
4.1

Servo Program Composition Area

This section is described the composition of servo programs and the area in which stores the servo program.

Servo program composition

A servo program is composed a program No., servo instructions and positioning data.
When a program No. and the required servo instructions are specified using MT Developer2, the positioning data required to
execute the specified servo instructions can be set.
Servo program composition example
■Explanation of the program
Program No.
<K 11>
Servo instruction
ABS-3
Axis
Axis
Axis
Positioning
Vector speed
data
Dwell
M-code
P.B.
Servo program contents
K11
ABS-3
Axis1, 3000000.0
Axis2, 5500000.0
Axis3, -2500000.0
Vector speed
Dwell
M-code
P.B.
• Program No.
This No. is specified using the Motion SFC program. Any No. in the range of 0 to 8191 (for operating system software
version "09" or earlier, 0 to 4095) can be set.
• Servo instruction
Type of positioning control is indicated. (Page 238 Servo Instructions)
4 SERVO PROGRAMS FOR POSITIONING CONTROL
236
4.1 Servo Program Composition Area
Control units
1, 3000000.0 [mm]
2, 5500000.0
[mm]
3, -2500000.0
[mm]
40000.00
[mm/min]
2500
[ms]
12
3
Setting details
Program No.
3 axes linear interpolation control as absolute data method.
Axis used
Positioning address
Axis used
Positioning address
Axis used
Positioning address
Command speed for the 3 axes (axis 1, axis 2, axis 3) combination
Dwell time
M-code
Parameter block No.
Setting value
11
ABS-3 (combination)
1
3000000.0 [m]
2
5500000.0 [m]
3
-2500000.0 [m]
40000.00 [mm/min]
2500 [ms]
12
3