Servo Programs For Positioning Control; Servo Program Composition Area; Servo Program Composition - Mitsubishi Electric MELSEC Q Series Programming Manual

5 SERVO PROGRAMS FOR POSITIONING CONTROL

5. 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 Chapter "6 POSITIONING CONTROL" for details of the servo program.

5.1 Servo Program Composition Area

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

5.1.1 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.
Program No.
<K 11>
Servo instruction ABS-3
Axis
Axis
Axis
Positioning
Vector speed
data
Dwell
M-code
P.B.
Number of program steps
Number of used programs 20/16384
(1) Program No. ........... This No. is specified using the Motion SFC program.
(2) Servo instruction .... Type of positioning control is indicated.
Control units
1, 3000000.0 [mm]
2, 5500000.0 [mm]
3, -2500000.0 [mm]
40000.00 [mm/min]
2500 [ms]
12
3
10
Fig. 5.1 Composition example of servo program
Any No. in the range of 0 to 4095 can be set.
Refer to Section 5.2 for details.
[Explanation of the program]
K11 . . . . . . . Program No.11
ABS-3 . . . . . 3 axes linear interpolation control as absolute
data method.
Axis1, 3000000.0
. . .
Axis2, 5500000.0
Axis3, -2500000.0
Used axes
1
2
3
• Vector speed ............. Command speed for the 3 axes
• Dwell ......................... Dwell time
• M-code ...................... M-code
• P.B. ........................... Parameter block No. 3
5 - 1
Axis used and positioning address
Positioning address
3000000.0[ µ m]
5500000.0[ µ m]
-2500000.0[ µ m]
(axis 1, axis 2, axis 3) combination
40000.00 [mm/min]
2500 [ms]
12
5