Motion Control In Sv13/Sv22 Real Mode - Mitsubishi Electric Q172CPU Programming Manual

1 OVERVIEW

1.2 Motion Control in SV13/SV22 Real Mode

<PLC CPU>
PLC program
Motion SFC
program start
request instruction
(Note) : Motion SFC program can also be started automatically
by parameter setting.
(1) System with servomotor is controlled directly using the servo program in
(SV13/SV22) real mode.
(2) Setting of the positioning parameter and creation of the servo program/Motion
SFC program are required.
(3) The procedure of positioning control is shown below:
1) Motion SFC program is requested to start using the S(P). SFCS instruction of
the PLC program.
(Motion SFC program can also be started automatically by parameter setting.)
2) Execute the positioning control using the specified Motion SFC program.
(Output to the servo amplifier)
3) The servomotor is controlled.
Program structure in SV13/SV22 real mode
SP.SFCS •••• K0 ••••
Specification of starting
program No.
<Motion CPU>
1)
••••
[G100]
M2049//servo ON accept ?
Servo program
[K10: real]
1 INC-2
Axis
Axis
Combined-speed 30000 PLS/s
Positioning control parameters
1 - 3
Motion SFC program
Transfer
1, 10000 PLS
2, 20000 PLS
END
System settings
Fixed parameters
Servo parameters
Parameter blocks
Home position return data
JOG operation data
Limit switch output data
2)
Servo amplifier
Servomotor
3)