6. SERVO PROGRAMS FOR POSITIONING CONTROL
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6.4.2 Setting by using word devices (D, W)
The method of setting by using word devices is a method whereby a word device
(D, W) number is designated in the positioning data designated for the servo
program.
By changing the contents (data) of the designated word device with the sequence
program, it is possible to use the same servo program to execute more than one
positioning control.
(1) Devices for setting indirect data
The devices that can be used for setting indirect data are data registers (D) and
link registers (W). (Word devices other than data registers and link registers
cannot be used.)
The data registers which can be used are indicated in the table below.
Word Device CPU
D 800 to 8191
W 0 to 1FFF
ABS-3
Axis 1, D 0
Axis 2, D 4
Axis 3, W 010
Combined speed 40000.00
Dwell W 1B0
M-code D 600
P.B. 3
<K 11>
Positioning
data
Indirect setting with a word device
positioning control is executed on
the basis of data of(D1, D0), (D5, D4),
(W11, W10), W1B0 and D600.
Numerical value setting
Axis numbers cannot be set indirectly
using word device.
Fig. 6.4 Example of Setting Positioning Data by Numerical Value Setting
(2) Input of Positioning Data
In indirect setting with word devices, the word device data is input when the
PCPU executes the servo program.
Accordingly, when positioning control is executed, after data is set in the device
used for indirect setting, the servo program start request signal must be issued.
POINTS
(1) It is not possible to indirectly set axis numbers using word devices with a
servo program.
(2) Establish an interlock by using a start accept signal (M2001+n) to ensure
that the device data designated for indirect setting is not changed until the
designated axis has accepted the start command.
If the data is changed before the start command is accepted, positioning
control in accordance.
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