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4 STRUCTURE OF THE MOTION CPU PROGRAM
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4. STRUCTURE OF THE MOTION CPU PROGRAM
Motion CPU programs is created in the Motion SFC of flowchart format. The motion
control of servomotors is performed using the real-mode servo programs specified by
motion-control steps in a Motion SFC program in SV13/SV22 real mode. Virtual
servomotors in a mechanical system program are controlled using the virtual mode
servo programs specified by motion-control steps so as to enable synchronous control
in SV22 virtual mode. Refer to the documents below for the details of Motion SFC
programs, motion control in real mode, and motion control in virtual mode.
Item Reference manual
Motion SFC program Section 6 in this manual
Motion control in SV13/SV22 real mode
(Servo program)
Q173CPU(N)/Q172CPU(N) Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
Motion control in SV22 virtual mode
(Mechanical system program)
Q173CPU(N)/Q172CPU(N) Motion controller (SV22)
Programming Manual (VIRTUAL MODE)
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