2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
47
2
Fixed-Pitch
feed control
1 axis FEED1 1 Axis Fixed-Pitch Feed Control 03H
2 axis FEED2 2-axes linear interpolation fixed-pitch feed control 0CH
3 axis FEED3 3-axes linear interpolation fixed-pitch feed control 17H
Speed
control ()
Forward
rotation
VF Speed control () forward rotation start 04H
Reverse
rotation
VR Speed control () reverse rotation start 05H
Speed
control ()
Forward
rotation
VVF Speed control () forward rotation start 70H
Reverse
rotation
VVR Speed control () reverse rotation start 71H
Speed/
position
switching
control
Forward
rotation
VPF Speed/position switching control forward rotation start 06H • VPSTART instruction is not supported.
• If VPF/VPR instructions are executed
by M(P).SVSTD/D(P).SVSTD
instructions and VPSTART instruction
is executed by the Motion SFC
program, a minor error (error code:
19FCH) occurs.
Reverse
rotation
VPR Speed/position switching control reverse rotation start 07H
Speed
control with
fixed
position stop
Forward
rotation
PVF Speed control with fixed position stop forward rotation start 73H • Set a bit device of the Motion CPU to
use for fixed position stop command to
(D1). If a valid device is not set to (D1),
error code (2225) is stored to the
complete status (S1+0), and control
does not start. When a number outside
the range is set, a minor error (error
code: 19FCH) occurs.
• Acceleration/deceleration time is set by
"acceleration time (b4)" of positioning
data items setting. If not set, error code
(2224) is stored to the complete status
(S1+0), and control does not start.
Reverse
rotation
PVR Speed control with fixed position stop reverse rotation start 74H
Position follow-up
control
PFSTART Position follow-up control start 75H Set a word device of the Motion CPU to
store the follow-up address to (D1). If a
valid device is not set to (D1), error code
(2225) is stored to the complete status
(S1+0), and control does not start. When
a number outside the range is set, a
minor error (error code: 19FCH) occurs.
Home position return ZERO Home position return start 76H Home position return is performed based
on home position return data. Data other
than "[Da.2] Control mode" is ignored.
High speed oscillation OSC High-speed oscillation 77H Set the high speed oscillation setting
items (starting angle, amplitude,
frequency) to the following positioning
point data.
• Amplitude: [Da.6] Positioning address/
Travel value
• Starting angle: [Da.7] Arc address
• Frequency: [Da.8] Command speed
NOP instruction NOP No operation 80H
Positioning control Instruction
symbol
Control description Setting
value
Remark
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