6. SERVO PROGRAMS FOR POSITIONING CONTROL
6 − 3
6.2 Servo Instructions
This section presents the servo instructions used in servo programs.
(1) How to read the servo instruction tables
Fig. 6.1 How to Read Servo Instruction Tables
Positioning Data
Common Settings
Circular
Interpolation
Parameter Block Others
Position-
ing
Control
Instruc-
tion
Symbol
Processing Details
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M Code
Torque Limit Value
Auxiliary Point
Radius
Enter Point
Number of Pitches
Control Unit
Speed Limit Value
Acceleration Time
Deceleration Time
Rapid Stop Deceleration Time
Torque Limit Value
Deceleration Processing on STOP
Input
Allowable Error Range for Circular
Interpolation
S Curve Ratio
Repeat Condition
Program No.
Commanded Speed (Constant Speed)
Cancel
Start
Skip
FIN Acceleration
Number of Steps
Section for Detailed Explanation
ABS-1
Absolute 1 axis
positioning
∆ !!! ∆∆ ∆∆∆∆∆∆ ∆ ∆∆
1 axis
INC-1
Incremental 1 axis
positioning
∆ !!! ∆∆ ∆∆∆∆∆∆ ∆ ∆∆
4
to
16
7.2
ABS-2
Absolute 2 axis linear
interpolations
∆ !!! ∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
Linear control
2 axis
INC-2
Incremental 2 axis
linear interpolation
∆ !!! ∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
5
to
18
7.3
1)
2)
3) 4) 5) 6)
7)
8)
Number Explanation
Instruction symbols Indicate the servo instructions that can be used in servo programs.
1)
Processing details Provide an outline of the processing of servo instructions.
(1) Indicates the positioning data that can be set for servo instructions.
(a)
!
: Item that must be set
(the servo instruction cannot be executed if this data is not set)
(b)
∆
: Item set if required
(if this data is not set, control is executed using the default value)
(2) Direct setting/indirect setting is possible (except for axis No.)
(a) Direct setting : Set with a numerical value.
(b) Indirect setting : Set with a word device (D, W).
"
When the servo program is executed, control is executed in accordance with
the contents of the set word device.
"
Some setting items are 1-word data and others are 2-word data.
"
In the case of 2-word data, set the head device.
2)
(3) Number of steps
The number of instruction steps increases depending on the number of setting items
(the number of steps is indicated at the time of servo program creation).
(The number of steps is minimal when setting is made only for instructions and
!
items. It is incremented by one each time one
∆
item is added.)
3) Items set in common for all servo instructions.
4) Items set for a servo program to start circular interpolation.
5)
Items set to execute control by changing the data in the parameter block set for the servo
program (or if no data is set, the default values). (The data in the parameter block is not
changed.)
6)
Setting items other than common items, settings for circular interpolation, and parameter
block settings (settings items differ according to the servo instruction.)
7) Indicates the number of steps for each servo instruction.
8)
Indicates the section where the function explanation for using each instruction can be
found.
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