1. GENERAL DESCRIPTION
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1.3 Positioning Control by the Servo System CPU
A servo system CPU can execute positioning control and sequence control for 32
axes by means of a CPU for multi-axis positioning control (hereafter called the
"PCPU") and a CPU for sequence control (hereafter called the "SCPU").
Sequence control capabilities are equivalent to those of A3U.
(1) Control handled by the SCPU
(a) Sequence control
The SCPU controls I/O modules and special function modules in
accordance with the sequence program.
(The method for executing a sequence program is the same as for an
A3UCPU.)
(b) Start of positioning start in accordance with sequence program, and setting
of positioning data
1) The Start requests execution of servo programs by means of the SVST
instruction (up to 4 axes for interpolation).
2) It changes current values or speed by means of the CHGA/CHGV
instruction.
3) It changes the torque limit value by means of the CHGT instruction.
4) It executes JOG operation.
5) It sets the data required to execute manual pulse generator operation.
(2) Control handled by the PCPU
(a) The PCPU executes servo programs whose execution is requested by a
SVST instruction issued by the sequence program, and performs the set
positioning control.
Positioning control data is defined in the positioning control parameters and
the servo program.
(b) It changes the feed current value or positioning speed at the servo side in
accordance with the current values or speeds set by CHGA/CHGV
instructions issued by the sequence program.
(c) It changes the torque limit value of the designated axis to that defined by the
CHGT instruction.
(d) It executes positioning when the manual pulse generator is used.
(e) It executes the teaching designated with the teaching unit (A30TU-
E/A31TU-E).
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