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13 PROGRAMMING
13.1 Precautions for Creating Program
13 PROGRAMMING
This chapter describes the programs required to carry out positioning control with the Simple Motion module.
The program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general
control configuration. (The parameters, positioning data, block start data and condition data, etc., must be set in the Simple
Motion module according to the control to be executed, and a setting program for the control data or a start program for the
various controls must be created.)
13.1 Precautions for Creating Program
The common precautions to be taken when writing data from the CPU module to the buffer memory of the Simple Motion
module are described below.
Reading/writing the data
Setting the data explained in this chapter (various parameters, positioning data, block start data) should be set using an
engineering tool. When set with the program, many programs and devices must be used. This will not only complicate the
program, but will also increase the scan time. When rewriting the positioning data during continuous path control or
continuous positioning control, rewrite the data four positioning data items before the actual execution. If the positioning data
is not rewritten before the positioning data four items earlier is executed, the process will be carried out as if the data was not
rewritten.
Restrictions to speed change execution interval
Be sure there is an interval between the speed changes of 10 ms or more when carrying out consecutive speed changes by
the speed change function or override function with the Simple Motion module.
Process during overrun
Overrun is prevented by the setting of the upper and lower stroke limits with the detailed parameter 1. However, this applies
only when the Simple Motion module is operating correctly. It is recommended to create an external circuit including a
boundary limit switch to ensure the whole system safety as follows: the external circuit that turns OFF the main circuit power
of the servo amplifier when the boundary limit switch operates.
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