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6. SERVO PROGRAMS FOR POSITIONING CONTROL
6.3
Positioning Data
Name
Parameter block
No.
Axis
Absolute date
method
Incremental
method
Commanded speed
Dwell time
M-code
Torque limit value
Absolute data
method
Incremental
method
Absolute data
method
Incremental
method
Absolute data
method
Incremental
method
Number of pitches
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The positioning data set for servo programs is shown in Table 6.3.
Explanation
! Sets the parameter block on the basis of which data such as that
for acceieration and deceleration processing and deceleration
processing on STOP input will be set for each axis.
! Set the axis to be started.
! For interpolation , the numbers of the axes involved in the
interpolation are designated.
Set the positioning address as an absolute address
Address
when using the absolute data method as the
positioning method.
Set the positioning address as a travel value when
using the incremental method as the positioning
method. The direction of travel is indicated by the
sign. However, only positive settings can be made for
Travel value
##speed/position switching control.
Positive : Forward rotation (direction in which
address values increase)
Negative : Reverse rotation (direction in which
address values decrease)
! Sets the positioning speed.
! The units for the speed are the "control units" set in the parameter
block.
! For interpolation, this setting is the combined speed/long-axis
reference speed/reference axis speed. (Applies to PTP control
only)
! Set the time from positioning to the positioning address to output
of the positioning completion signal (M1601+20n).
! Set the M-code.
! For speed switching control and constant speed control, different
settings can be made for each point.
! The setting is updated each time motion is started or at each
designated point.
! Set the torque limit value.
! When motion is started, the torque limit set in the parameter block
is used, but in speed switching control a different value can be set
for each point and the set torque values can be made effective at
designated points.
! Set when executing circular interpolation by designating an auxiliary
point.
! Set when executing circular interpolation by designating a radius.
! The sitting ranges, which depend on the positioning method used,
are shown to the right.
! Set when executing circular interpolation by designating a center
point.
! Set when performing helical interpolation.
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Setting Made With Peripheral Device
Default
Value
mm
1
−214748364.8
to
21474836.7
( µ m)
For other than ##speed/position switching control
For speed/position switching control
0 to
214748364.7
( µ m)
0.01 to
6000000.00
(mm/min)
0 (ms)
0
Torque limit
setting (%)
in the
parameter
block
−214748364.8
to
214748364.7
( µ m)
0.1 to
429496729.5
( µ m)
0.1 to
214748364.7
( µ m)
−214748364.8
to
214748364.7
( µ m)
6 − 7
Table 6.3 Positioning Data
Setting Range
inch
degree
PULSE
1 to 16
1 to 8 for A172SHCPU
1 to 4 for A171SHCPU
−21474.83648
−2147483648
to
0 to 359.99999
to
21474.83647
2147483647
0 to ±2147483647
0 to
0 to
0 to
21474.83647
21474.83647
2147483647
0.001 to
0.001 to
1 to 10000000
600000.000
2147483.647
(PLS/s)
(inch/min)
(degree/min)
0 to 5000 (ms)
0 to 255
1 to 500 (%)
−21474.83648
−2147483648
to
0 to 359.99999
to
21474.83647
2147483647
0 to ±2147483647
0.00001 to
1 to
0 to 359.99999
42949.67295
4294967295
0.00001 to
0.00001 to
1 to
21474.83647
21474.83647
2147483647
−21474.83648
−2147483648
to
0 to 359.99999
to
21474.83647
2147483647
0 to ±2147483647
0 to 999
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