7. POSITIONING CONTROL
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7.21.5 Zeroing servo program
Zeroing uses the ZERO servo instruction.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Center Point
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
Speed Change
ZERO
− 1 ! ∆
! : Must be set
∆ : Set if required
[Control Details]
(1) Zeroing is carried out using the method designated in the zeroing data (see
Section 7.21.1).
Refer to the following sections for details about the zeroing methods:
• Proximity dog method ......................Section 7.21.2
• Count method ..................................Section 7.21.3
• Data set method...............................Section 7.21.4
[Caution]
(1) If the following circuit conducts zeroing using the proximity dog method after the
PLC ready flag (M2000) turns ON but before the PCPU ready flag (M9074)
turns ON, another zeroing request is issued after zeroing is complete.
Therefore, apply interlock conditions to M9074 and M2402+20n (in-position
signal) when carrying out a zeroing. (See program example.)
K
SVST J1 0
M2001 M2410 M9074 M2402
0
CIRCUIT END
Start reception flag
Zeroing complete signal
In-position signal
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