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6. SERVO PROGRAMS FOR POSITIONING CONTROL
6. SERVO PROGRAMS FOR POSITIONING CONTROL
6.1
Servo Program Composition and Area
6.1.1
Servo program composition
Program No.
Servo
instruction
Positioning
data
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Servo programs serve to designate the type of the positioning control, and the
positioning data, required to execute positioning control with the servo system
CPU.
This section explains the configuration, and method for designating, servo
programs.
For details on the various types of servo program, see the explanation of
positioning control in Section 7.
This section describes the composition of servo programs and the area in which a
servo program is stored.
A servo program comprises a program number, servo instructions, and positioning
data.
When a program number and the required servo instructions are designated using
a peripheral device, the positioning data required to execute the designated servo
instructions can be set.
Control Units
<K 11>
ABS-3
Axis
1,
3000000.0
Axis
2,
5500000.0
- 2500000.0
Axis
3,
Combined speed
40000.00
Dwell
2500
M- code
12
P.B.
3
Number of program steps
Number of programs used
Fig. 6.1 Example Composition of a Servo Program
(1) Program No............... T his is a number used to call the program from the sequence
(2) Servo instruction ....... I ndicates the type of positioning control.
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[Explanation of the program]
K11
ABS-3
Axis1, 3000000.0
(
m)
Axis2, 5500000.0
(
m)
(
m)
Axis3, - 2500000.0
( mm/min)
( ms)
Combined speed
Dwell
M-code
P.B.
10
20/13312
program: any number in the range 0 to 4095 can be set.
For details, see Section 6.2.
6 − 1
Program No.11
3-axes linear interpolation control using
the absolute data method
Used axes and positioning address
Used Axes
Positioning Address
1
3000000.0 m
2
5500000.0 m
- 2500000.0 m
3
Commanded speed for the 3-axes
(axis 1, axis 2, axis 3) combined
(40000.00 mm/min)
Dwell time (2500 ms)
M-code (12)
Parameter block No. (3)
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