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2 STRUCTURE OF THE MOTION CPU PROGRAM
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2. STRUCTURE OF THE MOTION CPU PROGRAM
(1) Motion CPU programs are created in the Motion SFC of flowchart format. The
motion control of servo motors is performed using the real-mode servo programs
specified by motion-control steps in a Motion SFC program in SV13/SV22 real
mode.
(2) Virtual servo motors 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.
(3) By setting the synchronous control parameter and starting the synchronous
control for each output axis, the SV22 advanced synchronous control is performed
in synchronization with the input axis (servo input axis, command generation axis,
synchronous encoder axis).
(4) By using the sequence program in the PLC CPU, Motion dedicated PLC
instructions in the Motion CPU perform the following controls.
• Start of Motion SFC program
• Start of servo program
• Change of current value/speed/torque limit value
• Start of event task
(5) Refer to the following for the details of Motion SFC programs, motion control in
real mode, motion control in virtual mode, and motion control in advanced
synchronous control, and Motion dedicated PLC instructions in the PLC CPU.
Item Reference
Motion dedicated PLC instructions in the
PLC CPU
Chapter 3
Motion SFC program Chapter 4
Motion control in SV13/SV22 real mode
(Servo program)
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV13/SV22) Programming Manual (REAL MODE)
Motion control in SV22 virtual mode
(Mechanical system program)
Q173D(S)CPU/Q172D(S)CPU Motion controller
(SV22) Programming Manual (VIRTUAL MODE)
Motion control in SV22 advanced
synchronous control
(Synchronous control parameter)
Q173DSCPU/Q172DSCPU Motion controller
(SV22) Programming Manual
(Advanced Synchronous Control)
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