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