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7 MOTION CONTROL PROGRAMS
[Program example]
A program which made the current value change control of the cam shaft within-one-
revolution current value change is described as the following conditions.
(1) Current value change control conditions
(a) The current value change control conditions are shown below.
Item Setting
Servo program No. 10
Output axis No. 2
Current value change address 0
(2) Servo program
CHGA-C
Cam shaft within-one revolution
current value change control
Axis 2, 0
< K10 >
Output axis No. ......................... 2
Current value change address ... 0
POINT
Cam shaft within-one revolution current value changing instructions
• If a new within-one revolution current value is outside the range 0 to (one-
revolution pulse count - 1), a minor error
(Note)
[6120] occurs and current value
change is not.
• Set the current value change program the cam shaft within-one-revolution within
the virtual mode program No. range set in "K mode allocation" of MT Developer2.
• When PLC ready flag (M2000) or PCPU READY complete flag (SM500) is OFF,
a minor error
(Note)
[100] occurs and a current value change is not made.
• If the cam shaft within-one-revolution current value change is executed in the
real mode, a servo program setting error
(Note)
[903] or [905] occurs and the
current value change is not made. ([903] when the current value change servo
program is set to within the virtual mode program No. range, or 905 when it is
set to within the real mode program No. range.)
• If a current value change is made during mode changing, a servo program
setting error
(Note)
[907] (real mode
virtual mode changing) or [908] (virtual
mode
real mode changing) occurs and the current value change is not made.
(Note): Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller (SV13/SV22)
Programming Manual (REAL MODE)"/"Q173D(S)CPU/Q172D(S)CPU Motion
controller (SV22) Programming Manual (VIRTUAL MODE)" for minor error,
major error and servo program setting error.
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