Creator Electronics CR-M4102 Especificaciones

FATECQ172CPU(N)Q173CPU(N)MOTION CONTROLLERSCHOOL TEXTBOOKMicrosoft® Windows® Personal Computer Operation VersionSW6RN-GSV22P

-6-IntroductionThis is the school textbook prepared to provide an understanding of the motion controller to enable easycontrol of the multi-axis posit

6 - 126.1.7 Fixed-dimension feed control1-axis to 3-axis control with FEED-1, FEED-2 and FEED3 (incremental method)(1) Positioning control is execut

6 - 136.1.9 Speed/position changeover control1-axis control with VPF, VPR (increment method)(1) After the servomotor starts, speed control is carried

6 - 146.1.10 Speed changeover control1-axis to 3-axis control using VSTART, ABS-1, ABS-2, ABS-3, VEND(absolute method)(1) Using the currently stopped

6 - 156.1.11 Constant-speed control1-axis to 4-axis control with CPSTART1 to CPSTART4, CPEND(1) With one start, positioning control is carried out at

6 - 166.1.12 Repeated control (for speed changeover control and uniform speed control)1-axis to 4-axis control using FOR-TIMES, FOR-ON, FOR-OFF, NEXT

6 - 176.1.13 Simultaneous startSimultaneous start control using START(1) Two to three types of servo programs (excluding START) are simultaneouslysta

6 - 186.1.14 Zero point return1-axis zero point return using ZERO(1) Zero point return is executed from the currently stopped position using the meth

6 - 196.1.15 Position follow-up control1-axis control using PFSTART (absolute method)(1) With the first start, the axis is positioned to the address

6 - 206.1.16 High-speed oscillation control1-axis control using OSC (increment method)(1) The designated axis reciprocates in a sine wave form design

6 - 21 Start 270° 90° 90° Start 90° 27° 270°

1 - 1Chapter 1 Outline1.1 Features of the motion controllerThe motion controller has the following features.(1) Q-PLC CPU and multi-CPU systemA flex

6 - 226.1.17 Helical interpolation control with auxiliary point designated3-axis control by ABH (absolute method)(1) Helical interpolation control

6 - 236.1.18 Helical interpolation control with radius designated3-axis control by ABH /ABH /ABH /ABH (absolute method)(1) Helical interp

6 - 246.1.19 Helical interpolation control with center point designated3-axis control by ABH /ABH (absolute method)(1) Helical interpolation co

6 - 256.1.20 Current value changeCHGA Servomotor/virtual servomotor axis current value change control(1) When the real mode is selected, the current

6 - 26Memo

7 - 1Chapter 7 Operation Control ProgramA substitute operational expression, dedicated motion function and bit device controlcommand can be set with

7 - 27.2 List of operation control and transition commandsUsableprogramUsable expressionDivision Symbol Function FormatNumberof basicstepsF/FS GCalcu

7 - 3UsableprogramUsable expressionDivision Symbol Function FormatNumberof basicstepsF/FS GCalcula-tionexpres-sionBit condi-tionalexpres-sionRelationc

7 - 47.3 Dedicated motion functions (CHGV, CHGT)Speed change request: CHGVFormat Setting data Contents Result data type(S1) Axis No. requesting for s

7 - 5Torque limit value change request: CHGTFormat Setting data Contents Result data type(S1) Axis No. to request for torque limit value changeCHGT ((

1 - 2(7) Operating system (OS) can be changedSoftware packages to match applications are available, and by directly writing theoptical OS (refer to co

7 - 67.4 Other commandsEvent task permit: EIFormatEI(1) Execution of event task is permitted.(2) It is applicable only to the normal task.Program exa

7 - 7Non-processing: NOPFormatNOP(1) Since the command is a non-processing command, and will not bring about anyinfluence upon last operation.Block tr

7 - 8Time waiting: TIMEFormat Setting data Contents Result data typeTIME (S) (S) Waiting time (0 to 2147483647) msec Logical type (True/False)(1) The

7 - 9Writing of data to local machines shared memory: MULTWFormat Setting data Contents Result data type(D)Shared memory address of local machineCPU a

7 - 10Reading of data from shared memory of other machine: MULTRFormat Setting data Contents Result data type(D)Head No. of device in which data read

8 - 1Chapter 8 Windows Personal Computer Operations8.1 Flow of creating data for operating motion controllerStart the SSCNET communication task with

8 - 28.2 Registering the main unit OSRegister (install) the OS (SW6RN-SV22QC) for the Q motion CPU. QC30R2 RS-232C cable RS-232C Q172CPU Q02HCPU (1)

8 - 3Continued from previous page(4) The INSTALL dialog box will open. Click on[Communication], and then the [Communicationsetting] menu.(5) The COMMU

8 - 4Continued from previous page(8) The INSTALL dialog box will open. Click on theMotion main unit OS install button.(9) The MOTION MAIN UNIT OS INST

8 - 5Continued from previous page(12) When 'SV22' appears at "OS type", click on the OKbutton.(13) Click on the Execute button in

1 - 3(10) Teaching functionA servo program to match the actual part can be created with the current valueteaching function.(11) Limit switch functionT

8 - 6Continued from previous page(17) Click on the Install End button.15432OFF ← ONDIP switchSet to OFF and thenturn power ON(18) Turn the Q motion CP

8 - 78.3 Setting the Q-PLC CPU8.3.1 Reading the sequence program(1) Click on [Start], [Program], [MELSOFT application]and then [GX Developer] in Win

8 - 88.3.2 Setting the multi-CPU(1) Double-click on [Parameter] and then [PC parameter]in project data list.(2) The Qn(H) PARAMETER SETTING dialog bo

8 - 9Continued from previous page(5) Select the "Setting changeover" in "Refresh setting"to 'Setting 2', and set the fol

8 - 10Continued from previous page(9) The Qn(H) PARAMETER SETTING dialog box willopen again, so click on the Setting End button.

8 - 118.3.3 Writing the sequence program(1) Click on [Online], and then [Write to PC].(2) The WRITE TO PC dialog box will open, so click onthe Parame

8 - 12(4) The message "Completed." will appear when writingof data to the PC is completed, so click on the OKbutton.(5) Click on the Close b

8 - 138.4 Starting up SW6RN-GSV22PThe operations from starting up the SW6RN-GSV22P to the creation of a new projectare explained in this section.(1)

8 - 14Continued from previous page (5) When the message "Create a new project?"appears, click on the YES button.(6) When your own name (Engl

8 - 15Continued from previous page(9) When the NEW CREATION dialog box appears,select 'Q172' for “CPU select" and 'SW6-SV22QC(SFC)

1 - 41.2 Outline of control1.2.1 Real mode control for SV13 transfer assembly and SV22 automatic machine(a) A system containing a servomotor is dire

8 - 16Continued from previous page(13) The CHANGE TO OTHER MENU dialog box willappear.

9 - 1Chapter 9 Basic Practice Using the SV22 Real Mode9.1 Details of practiceA triangle will be drawn on the X-Y table as a positioning path.The SV1

9 - 29.2 Q172CPU practice machine system configurationSince the external signals (limit, DOG) are not used for this practice, the Q1272LX unitis omit

9 - 3Practice machine operation panel X0 X1 X2 X9 X0A X3 X4 X5 X0B X0C X6 X7 X8 X0D X0E STANDBY POINT POSITION- ING SET NO POSITION- ING CONTINUE POSI

9 - 4 Y2F to Y20 Y30 Y31 Y32 Y33 X20 X21 X22 X23 The lamps are wired to Y30 to Y33. The toggle switch is wired to X20 to X23. The digital indicators a

9 - 59.3 System settingThe system is set with SW6RN-GSV2P.(1) System setting window display (when the menu is changed to anothermenu)1) Open the CHAN

9 - 6(Continued from previous page)4) Set the "Automatic refresh setting" to 'Setting 2',and set the following."Head device&q

9 - 7(2) Setting the motion slot1) Double-click on the slot 1 of the main base on theSYSTEM SETTING screen to set the input/outputhybrid unit in slot

9 - 8(Continued from previous page)4) This completes setting of the slot 1 input/outputhybrid unit.Slot 2’s input/output hybrid unit is controlled by

9 - 9(3) Setting the amplifier1) To set the first servo amplifier and servomotor, clickon the servo amplifier (first [d1] amplifier from left)in the S

1 - 51.2.2 Virtual mode control for SV22 automatic machine(a) The virtual mode processes synchronous control with the software using amechanism progr

9 - 10(Continued from previous page)5) Set the "Axis No." to '1' and check that the otheritems are set as follows."Amplifier

9 - 11(4) Relative check, Conversion, and Save As1) After setting the motion slot and amplifier, click onthe [File] menu and then the [Relative check]

9 - 129.4 Setting the servo dataAfter ending the system settings, set the servo data.1) Click on the Servo data setting tool button in theSYSTEM SETT

9 - 13(Continued from previous page)5) Click on the [SERVO PARAMETER] tab in theSERVO DATA SETTING window.6) Click on the 1-axis section of the Basic

9 - 14(Continued from previous page)10) The PARAMETER BLOCK SETTING BLOCK NO.1dialog box will open when the "Block 1" section isdouble-click

9 - 159.5 Practice SFC programsThe sequence programs and SFC programs used for practice are listed below. Referto the following explanations for deta

9 - 16•••• Normal execution program[Initial setting] program Started automatically. No. 210 Initial setting •••• Program started by sequence program

9 - 17•••• Program started by SFC program[Servo program continuation] program No. 80 [Zero point return] program No. 20 Started by No. 0. Started

9 - 18•••• Q02H sequence program*1 When the clock relay is refreshed for automatic refresh, it may not be refreshed atcorrect timing depending on auto

9 - 199.6 Creating SFC programsCreate the SFC program used to set the operation of motion control.9.6.1 Creating a new SFC programCreation of a new

1 - 61.3 Items required to start up systemAlways carry out the steps enclosed in the solid-line box.Carry out the steps enclosed in the dotted box as

9 - 20(Continued from previous page)4) The set SFC programs will be listed.Click the New creation button again to create theSFC programs shown below.N

9 - 219.6.2 Creating the SFC diagramArrange the SFC diagram symbols to create the SFC diagram.1) Select the "10 JOG operation" from the SFC

9 - 22(Continued from previous page)5) Click on each tool button thereafter in the similarmanner to arrange each SFC diagram symbol asshown on the lef

9 - 23(Continued from previous page)7) The shape of the mouse cursor will change whenmoved over the SFC diagram symbol.Drag the start point of SFC pro

9 - 24(Continued from previous page)9) Click on [Edit] and then the [Alignment] menu in thePROGRAM EDIT window.The arranged SFC diagram symbols will b

9 - 25(Continued from previous page)13) The pointer No. is set to '0'.Next, double-click on the transition (G).14) The PROGRAM NO. SETTING d

9 - 26(Continued from previous page)15) The program No. 'G100' is set to the transition.Set the program No. and pointer No. for the otherSFC

9 - 279.6.3 Inputting the transition and operation control stepSet the conditional expression and operation expression to the transition and operatio

9 - 28(Continued from previous page)5) The command will be set as 'RST M0', so input'M3202' for 'M0'.Click on the Enter

9 - 29(Continued from previous page)9) Set the operation expression and conditionalexpression for the following operation controlprogram and transitio

2 - 1Chapter 2 Explanation of FunctionsThe system functions are explained in this chapter.2.1 List of specifications2.1.1 List of motion controller

9 - 30(Continued from previous page)11) When the message "Completed normally." appears,click on the OK button.12) The SFC program will be li

9 - 319.6.4 Inputting the motion control stepSet the motion control steps (used for positioning control, etc.).Create the SFC program for zero point

9 - 32(Continued from previous page)5) The SERVO PROGRAM EDIT dialog box andCOMMAND SELECTION dialog box will open6) Set the " Command division &

9 - 33(Continued from previous page)8) Click on the Store button.This completes setting of the 'K0' motion control step.9) Carry out the sam

9 - 34(Continued from previous page)Positioning(2-axis linear interpolation)Positioning(1-axis linear)Select the "M code" from the"Sett

9 - 35(Continued from previous page)12) Click on the SFC diagram write tool button on thePROGRAM EDIT screen to convert the program intoa SFC program.

9 - 369.6.5 SFC program parameter setting and batch conversionSet the parameters and convert them for the created SFC program.1) Click on [Option], [

9 - 37(Continued from previous page)4) Convert the created SFC diagram into an SFCprogram as a batch.Click on the Batch conversion tool button in theP

9 - 389.7 Writing to the motion CPUWrite the servo setting data and SFC program to the Q172CPU.1) Set the Q motion CPU to STOP.2) Click on the [Commu

9 - 39(Continued from previous page)6) Click on the [Communication] and then the [Transfer]menu in PROGRAM EDIT screen.7) The COMMUNICATION dialog box

2 - 22.1.2 List of SFC performance specificationsItem Q173CPU(N)/Q172CPU(N)Code total(SFC diagram + operation control +transition)287kBProgram capaci

9 - 409.8 Test operationPLC READY (M2000) must be turned OFF before starting test operation."Stop" the Q motion CPU.9.8.1 JOG operationPer

9 - 41(Continued on next page)(Continued from previous page)5) Set "Axis No. setting" to '2' so that the disc is levelledin the sa

9 - 429.8.2 Running the servo programRun the zero point return and positioning servo program set with the programoperation in the test mode.1) Click

9 - 43(Continued from previous page)5) The PROGRAM OPERATION dialog box will open,so click on the START button.(The axis 1 is returned to zero point.)

9 - 449.9 Program for operationThis operation sequence/SFC program has been prepared for the SW6RN-GSV22P(for Q172).The explanatory drawing of the pr

9 - 45(2) Q02HCPU sequence program M200 M201 [SP.SFCS H3E1 K130 M802 D802 ] [SP.SFCS H3E1 K0 M801 D801 ] [SP.SFCS H3E1 K10 M800

9 - 469.9.2 JOG operationWhen the forward JOG start signal (M3202/axis 1) or reverse JOG start signal (M3203/axis 1) is turned ON, the axis will move

9 - 472) Example of SFC program for JOG operation of axis 1 and axis 2 withindependent startIf the axis 1 is not in reverse JOG,the forward JOG is sta

9 - 48PX5 : Axis 1 forward JOG commandPX3 : Axis 1 reverse JOG commandPX1 : Axis 2 forward JOG commandPX7 : Axis 2 reverse JOG commandD641, D640 : Axi

9 - 499.9.3 Main routine SFC program (real mode operation)This SFC program is executed in the main routine when the real mode is selected.It is used

2 - 32.2 System configuration drawingRefer to the User's Manual for details on the wiring.2.2.1 Q172CPU(N) system SSC I/F card/board (A30CD-PCF

9 - 509.9.4 Zero point returnWhen the servo program is executed at the motion control step of the SFC program,the operation is executed according to

9 - 519.9.5 Continuous positioningTo execute the servo program in the sequence of 11 → 12 → 13 → 14, the 'WAIT' typetransition is used afte

9 - 52G800 G801PX19 ((D12 == K11)*(D32 == K11 ))+ !M329G803 G804TIME K3000 PX19G805 G807((D12 == K12)*(D32 == K11 ))+ !M330 TIME K3000G808 G809PX19 ((

9 - 539.10 Operating the practice machine9.10.1 OperationThe servomotor movement is monitored with the servo monitor using the SW6RN-GSV22P.1) Clic

9 - 54[Execute JOG operation](Continued from previous page) X0 X1 X2 X3 X5 X6 X7 X8 The axis will move with JOG while the switch is

9 - 55[Starting continuous positioning](Continued from previous page)• Positioning will be carried out with the following path when X2 turns ON.The

9 - 569.10.2 Monitor operationThe current value, cause of error occurrence and motion SFC operation status, etc.,can be checked with each monitor.(1)

9 - 57(3) Motion SFC monitorThe motion CPU program monitor is displayed.1) Click on the monitor mode button on PROGRAM EDITscreen.2) When the message

9 - 58(Continued from previous page)5) The EXECUTION STEP DEVICE MONITOR windowwill open. The state of the active step’s device can beconfirmed.6) To

9 - 599.10.3 Monitor trace graphThe position command, position droop, motor speed, motor current, and speedcommand, etc., can be traced with the SW6R

2 - 42.2.2 Q173CPU(N) system E dB M E d1 M E dB M E d1 M E dB M d1 M E dB M E d1 M E P MITSUBISHI LITHIUM BATTERY E SSC I/F card/board (A30CD-PCF/A30

9 - 60(Continued from previous page)(d)(e)(k)(j)(h)(o)(n)(a)(b)(c)(i)(m)(p)(o)(n)(m)(s)(r)(q)(l)(t)(g)(u)2) The DIGITAL OSCILLOSCOPE window will open.

9 - 61(Continued from previous page)No. Name FunctionAdjusts the monitor cursor position/waveform display position when the monitorcursor is moved or

9 - 62(Continued from previous page)5) The COMMUNICATION SETTING dialog box willopen, so check "RS-232C", select "1. Serialcommunicatio

9 - 63(Continued from previous page)2) Click on 'Motor current/command voltage', 'Motorspeed' and 'Position command', an

9 - 64(Continued from previous page)6) Set the trace conditions.Click on the MENU button, and then the TRIGGERbutton.7) Check "Bit OR-Trigger&quo

9 - 65(Continued from previous page)10) Set the sampling size to 8,192 times.Set "Sampling size (point)" to '8192' in the samemann

9 - 66(Continued from previous page)15) When buffering is completed after establishment ofthe trigger, the Buffering data reading progress barwill app

9 - 67[Enlargement/reduction of graph in horizontal direction]Adjust the time axis range.HORIZONTAL Enlargement/reduction [Movement of graph in horizo

9 - 689.11 Ending the operations9.11.1 Ending the SW6RN-GSV22P operations1) Click on [File], and then the [GSV22P End] menu onthe TEST window.(The [

10 - 1Chapter 10 Applied Practice with SV22 Real Mode10.1 Details of practicePractice drawing triangles and circles as positioning paths on the X-Y

2 - 52.3 Names of each partThe names and applications of each Q172CPU(N)/Q173CPU(N) part are shownbelow.• Q172CPU/Q173CPUFrontQ17mCPURS-232USBMODERUN

10 - 210.2 Q172CPU practice machine system configurationSince the external signals (limit, DOC) are not used for this practice, the Q1272LX unitis om

10 - 3Practice machine operation panel X0 X1 X2 X9 X0A X3 X4 X5 X0B X0C X6 X7 X8 X0D X0E STANDBY POINT POSITION- ING SET NO. POSITION- ING

10 - 4 Y2F to Y20 Y30 Y31 Y32 Y33 X20 X21 X22 X23 The lamps are wired to Y30 to Y33. The toggle switch is wired to X20 to X23. The digital indicators

10 - 510.3 Practice SFC programsThe sequence programs and SFC programs used for practice are listed below. Referto the following explanations for det

10 - 6• Program started by SFC program (1)[Servo program execution] program No. 30 Started by No. 0 Servo program execution [Waiting point positionin

10 - 7• Program started by SFC program (2)[Servo program continuation] program No. 80 Started by No. 0 Servo program continuation

10 - 8• Program started by sequence program[JOG operation] program No. 10 Started by sequence program JOG operation[Real mode main] program No. 0

10 - 9• Normal execution program[Start/sudden stop] [Speed change] [Actual current value read]program No.40 program No. 60 program No. 70 Star

10 - 10• Q02H sequence program*1 When the clock relay is refreshed for automatic refresh operation, it may not berefreshed at correct timing depending

10 - 1110.4 Writing to the motion CPUWrite the servo setting data and SFC program to the Q172CPU.Read the existing program from the folder destinatio

2 - 6Functions of each partNo. Item Function 1) Module fixing hook• Hook for fixing module onto base unit. (One-touch attachment) 2) Mode judgment LED

10 - 12(Continued from previous page)3) Check that the [Path] under "Folder destination" isset to 'C:\Q172', and that the [Project

10 - 13(Continued from previous page)6) The FILE READ dialog box will open, so click onthe YES button.7) The EXECUTION COMPLETED dialog box willopen,

10 - 14(2) Writing to Q motion CPU1) Set the Q motion to STOP.2) Click on the [Communication] and then the[Communication setting] menu on the PROGRAME

10 - 15(Continued from previous page)7) The COMMUNICATION dialog box will open, socheck "Servo setting data" and "SFC program", an

10 - 1610.5 Program for operationThis operation sequence/SFC program has been prepared for the SW6RN-GSV22P (for Q172).The explanatory drawing of the

10 - 17(3) Program example1) JOG operation conditionsItem ConditionAxis used Axis 1 Axis 2JOG operation speed 1500mm/min 1500mm/min2) SFC program exam

10 - 18M2048 : Simultaneous JOG start command flagD710 to D713 : Simultaneous JOG operation start axis setting areaPX2 : Forward JOG command for axis

10 - 1910.5.2 Main routine SFC program (real mode operation)This a SFC program executed in the main routine when the real mode is selected.It is used

10 - 2010.5.3 Execution of servo program (motion control step)When the servo program is executed at the motion control step of the SFC program,the op

10 - 21Example 2 Example of SFC program used to execute the servo program No.(designated by two digits of digital switch (X10 to X17)) with indirectse

2 - 7Q173CPU(N)/Q172CPU(N) switch and connector functionsNo. Item FunctionDIP switches 1 Use prohibited (OFF at shipment from maker)DIP switches 2DIP

10 - 22G300 G301(D4000==K1) * !M2410 * !M2001 (D4000==K12) * !M2001G302 G303(D4000==K30) * !M2001 (D4000==K31) * !M2001G304 G305!((D4000==K1)+(D4000==

10 - 23K32: REAL K33: REAL[Motion control step] 1 VPF AXIS 1, 100000.0µm VELOCITY 5000.00mm/min 8 CPSTART2

10 - 2410.5.4 StoppingIt is possible to stop the operation either by "Deceleration stop" or "Sudden stop".(1) Deceleration stop s

10 - 2510.5.5 Error resetWhen an error occurs, the error detection signal (M2407/axis 1) is turned ON, causingthe minor error code or major error cod

10 - 26(3) Example of SFC program to reset axis 1/axis 2 error SFC program No. 110 Error detection_Reset_EMG When M2407, M2427, M2408 or M2428 and M33

10 - 2710.5.6 Current value changeChange the position at which the axis designated by CHGA command (changeaddress) of servo program is stopped to the

10 - 2810.5.7 Speed change (CHGV)The motion dedicated function CHGV command (change velocity) is used to forciblychange the speed set during position

10 - 292) Speed change program example SFC program No. 60 Speed change Changed when the real mode is selected. If M2001 is turned ON and M2002 is turn

10 - 3010.5.8 Reading actual current valueThe monitor data includes D0 to D159 stored in the actual current value storage register(shown below). Cons

10 - 31(2) Q02HCPU sequence program [DBCD D6004 K4Y20 ] [DBCD D6006 K4Y20 ] (Y30 ) (T0 ) (Y31 ) (T1 ) (Y32 ) (T2 ) (Y33 )

2 - 8MEMO

10 - 3210.5.9 Continuous positioningTo execute the servo program in the sequence of 11, 12, 13, 14, 20, 21 and 15, usethe transition of 'WAIT&ap

10 - 33G800 G801PX19 ((D12 == K11)*(D32 == K11 ))+ !M329G803 G804TIME K3000 PX19G805 G807((D12 == K12)*(D32 == K11 ))+ !M330 TIME K3000G808 G809PX19 (

10 - 3410.5.10 M code functionThe M code No. ranges from 0 to 255, and is added to the servo program. When thisservo program is executed, the M code

10 - 352) Substitute the M code read out to the other device to raise/lower the pen.•12 SET M411=XB+M291SFC program No. 120Push-buttonMake the status

10 - 3610.5.11 Indirect setting of servo program addressIndirect settings enable use of the even-number address of un-used data registers (D),link re

10 - 37(3) SFC programCalculate the axis 1 and axis 2 addresses from the digital switch value, and storein the D4006, D4007, D4008 and D4009.Execute t

10 - 3810.6 Operating the practice machine10.6.1 OperationThe servomotor movement is monitored with the servo monitor using the SW6RN-GSV22P.1) Cli

10 - 39[Execute JOG operation](Continued from previous page) X0 X1 X2 X3 X5 X6 X7 X8 The axis will move with JOG operation while th

10 - 40[Positioning to waiting point](Continued from previous page)Set the mode selector switch to [REAL] X19.• When X0 is pressed, the axes are po

10 - 41[Items to confirm during operation](Continued from previous page)(1) Pen UP/DOWN• When X0B is turned ON, the pen DOWN display lamp turns ON

3 - 1Chapter 3 Q-PLC Multi-CPUUsing the sequence program, the input/output unit and special function unit sequencecontrol is executed, and operations

10 - 42(Continued from previous page)(3) Error reset• When X0C is turned ON, the occurring error can be reset.[Error detection_Reset_EMG] program (

10 - 43[Starting continuous positioning](Continued from previous page)• Positioning will be carried out with the following path when X2 turns ON.•

10 - 44[Indirect setting of positioning address](Continued from previous page)• If X7 is pressed with the digital switch set to 7 5 , the addre

10 - 45[Speed control](Continued from previous page)Set the mode selector switch to [REAL] X19.• For speed control, the actual current value will be s

10 - 46Memo

11 - 1Chapter 11 Practicing with the SV22 Virtual Mode11.1 Mechanism programThe mechanism program used for control in the virtual mode is configured

11 - 211.1.2 List of mechanism modulesThe number of mechanism modules that can be used in the mechanism moduleconnection diagram for the virtual mode

11 - 311.1.3 Virtual servomotorThe virtual servomotor is used to operate the virtual axis with the servo program orJOG operation.No. Parameter settin

11 - 411.1.7 ClutchThe smoothing clutch and direct clutch can be used.The control includes the ON/OFF mode (X, Y, M, L, B, F), address mode (D, W) an

11 - 511.1.8 TransmissionTo lower the roller output speed, the transmission conveys, to the output shaft, thespeed obtained by multiplying the input

3 - 23.1 Multi-CPU systemThe multi-CPU system is configured by mounting multiple Q-PLC CPUs/Q motionCPUs (maximum, 4 units) on the main base unit, an

11 - 611.1.11 Ball screwThe ball screw outputs the movement amount obtained by multiplying the drivemodule's movement amount with the conveyance

11 - 711.1.13 CamThe cam carries out cam output based on the cam stroke and cam curve data createdwith SW3RN-CAMP, and outputs the movement amount ob

11 - 8[Cam data created with SW3RN-CAMP]The cam data is stored in the cam data dedicated internal memory in the motion CPU.No. Parameter setting item

11 - 911.2 Details of practiceThe X axis (axis 1) and Y axis (axis 2) are synchronously operated using themechanical support language.The X axis (axi

11 - 10Ideology for moving along path• The X axis (axis 1) ball screw is set to 5mm/rotation (131072 pulse/rotation), so the axis 1 output moduleis se

11 - 1111.3 Starting up SW3RN-CAMP and creating the cam1) Click on [Start], [Program], [SWnRNC-GSV],[SW3RN-CAMP] and then [Cam data creation].2) The

11 - 12(Continued from previous page)6) Click on the Stroke setting tool button.7) Set in the STROKE SETTING dialog box as shown inthe following table

11 - 13(Continued from previous page)11) Click on the OK button.12) To see the [Stroke ratio], [Speed], [Acceleration] and[Saltarion] shown in the tab

11 - 14(Continued from previous page)The table isarranged fromNo.0 to No.255,and can bedisplayed byscrolling.After confirmation,click on theCancel but

11 - 15(Continued from previous page)16) Create the cam data for cam No.2 with the sameprocedure as for cam No.1.For cam No.2, change the "Cam cu

3 - 33.1.2 Mounting position of Q-PLC CPU/Q motion CPUIt is possible to mount up to four Q-PLC CPU/Q motion CPUs in the CPU slots (locatedat right si

11 - 1611.4 SFC program for virtual modeThe following lists the SFC programs in the virtual mode.No. Program nameAutomaticstartEND operationNumber of

11 - 17•••• Normal execution program[Virtual mode JOG operation] program No.140 [Virtual stop/sudden stop] program No.170 Started automatically.

11 - 1811.4.1 New creation of SFC program for virtual mode1) Click on [Start], [Program], [SWnRNC-GSV],[SW6RNC-GSV], [SW6RN-GSV22P] and then the[Prog

11 - 19(Continued from previous page)4) Check that the folder for setting the user file is theproject folder set in the real mode, and click on theOK

11 - 20(Continued from previous page)7) Click on the OK button in the EXECUTIONCOMPLETED dialog box.8) Click on the New creation button.9) The NEW CRE

11 - 21(Continued from previous page)4) The set SFC programs will be listed.Click on the New creation button again to create theSFC programs as shown

11 - 2211.4.2 Inputting the motion control steps for the virtual modeSet the motion control steps for the virtual mode.1) Create the SFC program for

11 - 23(Continued from previous page)5) Click on the Cancel button in the COMMANDSELECTION dialog box.6) Click on the Mode assignment setting button i

11 - 24(Continued from previous page)10) Input '1' and '0' in the "Axis: " text box, and '640000' inthe "

11 - 25(Continued from previous page)15) Set the transition program shown below.16) To save the edited servo program, click on [File] andthen the [Sav

3 - 43.1.3 Input/output numbersWith the multi-CPU system, the slots equivalent to the number of CPUs set in the PCparameter multi-CPU setting are occ

11 - 2611.5 Editing the mechanismThe drive module, conveyance module and output modules for the virtual mode are seton the screen with the mouse.1) C

11 - 27(Continued from previous page)3) Double-click on the module A (virtual servomotor), and set the parameters as shown below.After setting, click

11 - 28(Continued from previous page)6) Double-click on the module D (clutch) and set the parameter as shown below.After setting, click on the OK butt

11 - 29(Continued from previous page)8) Double-click on the module F (cam) and set the parameter as shown below.After setting, click on the OK button.

11 - 3011.6 Writing to the motion CPUWrite the following data to the motion CPU: • Servo programs • Mechanism programs • Cam data1) Stop the Q

11 - 3111.7 Reading of sequence program from Q-PLC CPU(When the sequence program has been read from FD during "Practice with real mode"in C

11 - 32(Continued from previous page)5) The PC READ dialog box will open, so click on theParameter + Program button to select the data to beread.After

11 - 3311.8 SFC program for practice[Virtual mode main] program No. 130 Virtual mode main Virtual servo Setting of axis 2 cam reference position (low

11 - 34[Virtual mode JOG operation] program No.140 Virtual mode JOG operation SFC program No. 140 The JOG operation is started when the X3 and X5 are

11 - 35[Virtual servo program] program No. 150Virtual mode mainVirtual servoThe "Virtual servoprogram" is startedwhen X0 or X1 isturned ON.S

3 - 53.1.4 Automatic refresh for shared memory(1) With automatic refresh of the CPU shared memory, the transmission/reception ofdata between each CPU

11 - 36[Virtual stop/sudden stop] program No. 170 Virtual servo Virtual stop/sudden stop SCF program No. 170 [Sudden stop] M2044=ON When the XE switch

11 - 37[Virtual error detection] program No. 180 M2044=ON Virtual error detection When M4007 and M33 are turned ON, M136 is turned ON. (When the SFC p

11 - 38[Clutch ON/OFF] program No. 200 Clutch ON/OFF SFC program No. 200 M320 is turned ON when X8 is turned OFF. M2160 is turned ON when M322 is turn

11 - 3911.9 Practice machine operationsMonitor the operation with the X-Y table movement and a personal computer.1) Click on the monitor tool button

11 - 40[Changing to virtual mode](Continued from previous page)Set the mode selector switch from [REAL] (X19 ON) to [VIRTUAL] (X1A ON).The virtual mod

11 - 41[Mechanism monitor](Continued from previous page)Close the virtual servomotor's DETAILS MONITOR dialog box.Double-click on the cam positio

11 - 42[Clutch operation](Continued from previous page)Press X8 clutch OFF while operating in the virtual mode.The mechanism monitor clutch will o

11 - 43[END operation]1) Click on [File] and then the [GSV22P END] menu inthe MECHANISM EDIT window.2) If the edited data is not saved, a dialog to co

11 - 4411.10 Exercise (Roller setting)Change the cam to the following roller and move it.Conditions: It is assumed that a reduction gearis installed

A - 1AppendixAppendix 1 Examples of programs for SV22 virtual modeProgram example 1... A-2Program example 2...

• SAFETY INSTRUCTIONS •(Always read before starting practice)When designing the system, always read the related manuals, and pay special attention to

3 - 6(2) To execute automatic refresh, it is necessary for Q-PLC CPU with the multi-CPUsetting of PC parameter, and for the Q motion CPU with the mult

A - 2Program example 1(1) Synchronously operate axis 1, axis 2, axis 3, axis 4, axis 5, axis 6, axis 7 and axis8 with virtual servomotor Axis 1 .(2)

A - 3Mechanism connection diagramAxis 1Axis 1Axis 2 Axis 3Axis 4Axis 5Synchronous encoderNO.2 (P2)Axis 6Axis 7Axis 81Servo program VIRTUAL AXIS SPEED

A - 4Program example 2(1) Synchronously operate axis 1, axis 2, and axis 3 with virtual servomotor Axis 1 .(2) Wire synchronous encoder to P1, and ma

A - 5Servo program VIRTUAL AXIS SPEED Speed control forward runThe drive module's virtual servomotor axis 1 willmove in the forward run direction

A - 6Program example 3(1) Synchronously operate axis 1, axis 2, and axis 3 with virtual servomotor Axis 1 .(2) Synchronously operate axis 4 and axis

A - 7Servo program VIRTUAL AXIS SPEED Speed control forward runThe drive module's virtual servomotor axis 1 willmove in the forward run direction

A - 8Program example 4(1) Synchronously operate axis 1 and axis 2 with virtual servomotor Axis1 .(2) Carry out 3-axis linear interpolation of axis 3,

A - 9Servo program VIRTUAL AXIS SPEED Speed control forward runThe drive module's virtual servomotor axis 1 willmove in the forward run direction

A - 10Appendix 2 Sample motion SFCThe sample program stops all motion control upon reception of emergency stop input,and re-starts motion control whe

A - 11(2) Q173CPU(N) system setting[Unit settings]• Manual pulse generator input unit Q173PX: Slot 3P1 Manual pulse generator/synchronous encoder (IN

3 - 73.2 Multi-CPU motion dedicated commandsThe multi-CPU’s dedicated commands (SFCS, GINT, DDRD, DDWR) are explained inthis section.3.2.1 SFCS moti

A - 12• Automatic refresh setting 3Transmission range of each CPU CPU side deviceCPU shared memory G Head device W100CPUNumber of points Head End Head

A - 13(4) SFC program listNo. Program name TaskAuto-maticstartENDoperationSetting of numberof continuousshiftsContents of processing0 Positioningdevic

A - 14(5) Motion SFC program detailPositioning deviceP0[F0]//Status M2400 to M3039 (40 words) of each axis//M2400 and after (No. 1 machine QnHCPU)DIN

A - 15Main[F20]SET M9028 // Clock data read request ONP0[G20]M9076 // Emergency stop reset?Motion control[G21]!M9076 // Emergency stop?Motion controlC

A - 16Motion control[F110]SET M2042 // All-axis servo ONcommand: ONP0[G105]M2415*M2435 //Is 1-axis/2-axisservo ON?IFB1[G110]!PX2*!PX1[G111]!PX2*PX1[G1

A - 17JOG[F120]//1-axis JOG operation speed =100000PLS/secD640L = K100000//2-axis JOG operation speed =100000PLS/secD642L = K100000[G120]//1-axis forw

A - 18Manual pulse generator[F130]D720 = 100 //1-axis 1-pulse input magnificationsettingD721 = 100 //2-axis 1-pulse input magnificationsettingD714L =

A - 19Zero point returnP0IFB1[G140]//(PX3*!1-axis zero point return completed//*1-axis in-position signal//*!1-axis start accepted)?PX3*!M2410*M2402*!

A - 20Program operationP0IFB1[G150]//**** Detection of PX3 OFF → ON ***//M0 is turned ON when PX3 is turned ON//and M1 (PX3 at last status)//is turned

A - 21Appendix 3 Operating the Windows personal computerAppendix 3.1 Backing up an FDBack up your school textbook.1) Insert a formatted FD in the FD

3 - 8(2) Execution timingStarting of the designated SFC program is requested at the rising edge (OFF →ON) of the SFCS command.The SFC program to be st

A - 22(Continued from previous page)5) Click on [Edit] and then the [Paste] menu.6) Copying of the data is completed when the projectfolder is saved i

A - 23Appendix 3.2 Installing SW6RN-GSV22P(1) The SW6RNC-GSV general start-up support software includes the following, eachof which is installed as r

A - 24(3) The SW6RN-GSV22P installation procedures are described below.The other software packages may differ in part, however, the installationproced

A - 25(Continued from previous page)5) The INSTALL FROM FLOPPY DISK OR CD-ROMdialog box will open. Click on the Next button.6) The EXECUTE INSTALLATIO

A - 26(Continued from previous page)9) A screen showing the cautions and warnings willopen.Click the Next button.10) Input your "Name" and &

A - 27(Continued from previous page)13) Input the program folder name to be registered in theStart menu.The default is 'SWnRNC-GSV'.If the p

A - 28Appendix 4 Comparison between A173UHCPU/A172SHCPUNThe following shows the comparison between Q173CPU(N)/Q172CPU(N) and A173UHCPU/A172SHCPUN.Item

A - 29Items Q173CPU(N) Q172CPU(N) A173UHCPU A172SHCPUNDevice memory Independent CommonData exchange between PCPU and SCPUData exchange method using au

A - 30Appendix 5 Sequence command dedicated to motionThis appendix describes the details of the SVST command, CHGA current value changecommand, CHGV

A - 31(2) Execution timingStarting of the designated servo program is requested at the rising edge of theSVST command (OFF → ON).(3) Operation error c

3 - 93.2.2 GINT interrupt command to other machine’s CPUThe command is used to generate an interrupt to the Q motion CPU.(1) Setting the GINT command

A - 32Appendix 5.2 CHGA current value change commandThis command is used to change the current value of a stopped axis. Command SP.CHGA (n1) (S1)

A - 33(2) Execution timingThe current value is changed for a designated axis at the rising edge (OFF →ON) of the CHGA command.(3) Operation error cond

A - 34Appendix 5.3 CHGV speed change commandThe CHGV speed change command is used to change the speed during positioningand JOG operation. Command SP

A - 35(2) Execution timingThe speed is changed for the designated axis at the rising edge (OFF → ON) ofthe CHGV command.(3) Operation error conditions

A - 36Appendix 5.4 CHGT torque limit value change request commandThis command is used to change the torque limit value regardless of whether theopera

A - 37(2) Execution timingThe torque limit value is changed for the designated axis at the rising edge (OFF→ ON) of the CHGT command.(3) Operation err

A - 38Appendix 6 Explanation of termsA ACCELERATIONRefers to the cam's dimensionless accelerationrate.The dimensionless acceleration rate is the

A - 39ACTUAL CURRENT VALUENumber of pulses for real servo movement,calculated from the feedback pulses.ADDRESS1) The memory address. Many addresses ar

A - 40BALL SCREWThis is a type of screw, with balls lined up inthe threads like ball bearings. This is used forpositioning as the backlash is small, a

A - 41CONSTANT SPEED CONTROL (Uniformspeed control)With one start command, the positioningcontrol to the preset pass point with linear orcircular move

3 - 10(3) Operation error conditionsThe operation error will occur in the following cases, and the SFCS command willnot be executed.(a) When 0 to 3DFH

A - 42CURSORThis is the point on the display screen of aperipheral device, CRT, etc., which shows theoperator where the next character will appear.Cur

A - 43DIRECT CLUTCHOne of the mechanism programs for the virtualmode.This is the conveyance module clutch, and is aclutch with zero setting time for w

A - 44EIARefers to the EIA codes (EIA Standards)punched into the paper punch paper to instructmachining to the NC unit.In addition to NC language, ISO

A - 45ENCODERThis refers to an encoding device, such as apulse generator, that inputs the positioninformation into the control unit.ABZBall bearingInp

A - 46FEED PULSEPulses issued to the servo unit or steppingmotor from a command device such as apositioning unit. Also called the commandpulse.FEED SC

A - 47G CODE2-digit (00 to 99) coded to designate the NCunit axis control function. Also called the Gfunction.Example: G01 Linear interpolation G02

A - 48IN POSITIONSignal that relies on the positioning data'sservo parameters. The droop pulse amount inthe deviation counter (difference of posi

A - 49MANUAL PULSE GENERATORThe handle of this device is manually rotatedto generate pulses. This device is used whenmanually carrying out accurate po

A - 50MOTION CONTROLRefers to positioning control.MOVEMENT AMOUNT PER PULSEWhen using mm, inch, or angle units, themovement amount is calculated and o

A - 51OPTION SLOTSlot for mounting motion unit or MELSEC-QSeries to match working purposes.OUTPUT MODULEModule that moves the servomotor in thevirtual

3 - 113.2.3 Read from DDRD Q motion CPU device commandThe command is used to directly read the device data in the Q motion CPU with Q-PLC CPU.(1) Set

A - 52POSITIONING PARAMETERSThis is basic data for carrying out positioningcontrol. Types of data include the systemsettings set to match the servomot

A - 53PULSE RATE (P RATE)Coefficient that doubles, triples, halves orthirds the feedback pulses per motor axisrotation during positioning.Ratio of the

A - 54SCPUSequence CPU used in the motion controllerCPU configuration.There is also a positioning control CPU calledthe PCPU.SCROLLRefers to continuou

A - 55SERVO RESPONSESet the responsiveness for automatic tuning.Optimum response corresponding to themachine's rigidity can be selected. The high

A - 56SPEED CHANGE GEARThis is a transmission module in themechanism program for the virtual mode. Themain shaft's rotation speed is changed andc

A - 57STARTING AXISThis is the axis to be started, and refers to axis1 to axis 8/32.STATUSDevice that indicates the status. Generic nameof signal that

A - 58SUDDEN STOPA stop carried out in a shorter time than thedeceleration time designated in theparameters.Full speedSudden stopTimeDeceleration time

A - 59TEACHING UNITDevice that allows teaching such aswriting/reading data, operation and monitorduring positioning.The A30TU/A31TU type teaching unit

A - 60VICINITY PASSAGEThis allows the pass points to be movedsmoothly during 3D interpolation CP control ofthe SV51 dedicated robot.P2A3P1A1P0A2Pass p

A - 61WORD DEVICESThis is a device used in the PLC, and is anelement having data. One point is a deviceconfigured of one word. Word devices includethe

3 - 12(3) Operation error conditionsThe operation error will occur in the following cases, in which the DDRDcommand is not executed.(a) When the local

3 - 133.2.4 Write to DDWR Q motion CPU device commandThis command is used to directly write the device data in the Q motion CPU to the Q-PLC CPU.(1)

3 - 14(3) Operation error conditionsThe operation error will occur in the following cases, and the DDWR commandwill not be executed.(a) When the local

4 - 1Chapter 4 Q Motion CPUThis CPU holds the system setting data and servo data, and executes the servoprogram and mechanism support language for mu

Revision History* The textbook No. is indicated on the lower left of the back cover.Date of print *Textbook No. Revision detailsJanuary 2001 SH-030010

4 - 24.2 Servo dataThe following types of data are provided. Default values are set and must be changedto data that matches the system.The data is st

4 - 34.2.1 Basic system settingThe basic system setting contents are shown below.DefaultNo. Item Setting rangeInitialvalueUnitsRemarks1Operation cycl

4 - 44.2.2 Multi-CPU settingThe multi-CPU setting contents are shown below.DefaultNo. Item Setting rangeInitialvalueUnitsRemarks1Number ofmulti-CPUs0

4 - 54.2.3 Fixed parametersThe fixed parameters to be set are shown below.Setting range Defaultmm inch degree PULSENo. ItemSetting range Units Settin

4 - 64.2.4 Servo parametersThe parameters to be set are shown below.[Basic servo parametersSetting range Defaultmm inch degree PULSENo. ItemSetting r

4 - 7[Adjustment parameters]When real-time auto tuning is enabled, the values (No.1 to No.6) are tuned and changedduring test operation.Read the value

4 - 8[Adjustment parameters] ContinuedSetting range Defaultmm inch degree PULSENo. ItemSetting range Units Setting range Units Setting range Units Set

4 - 9[Extended servo parameters]Setting range Defaultmm inch degree PULSENo. ItemSetting range Units Setting range Units Setting range Units Setting r

4 - 104.2.5 Zero point return dataThe data to be set is shown below.Setting range Defaultmm inch degree PULSENo. ItemSetting range Units Setting rang

4 - 114.2.6 JOG operation dataThe data to be set is shown below.Setting range Defaultmm inch degree PULSENo. ItemSetting range Units Setting range Un

-1-CONTENTSChapter 1 Outline 1-1 to 1-61.1 Features of the motion controller...

4 - 124.2.7 Parameter blockThe parameter block is used to determine the acceleration time, deceleration time andtorque limit value, etc., used for ze

4 - 134.2.8 Limit switch output functionThis function is used to output the ON/OFF signal corresponding to the range of watchdata set for each output

4 - 144.3 Positioning control deviceThe Q motion CPU is provided with positioning control devices for positioninginformation.The explanations of the

4 - 154.3.1 Status/command signals M2400 to M5471 (For Q172)The Q172CPU(N) has 8192 internal relay and latch relay points M/L0 to M/L8191. Ofthese po

4 - 16(2) List of M4000 to M5471(In the virtual mode, the output module is the target instead of the drive module.)DeviceSynchronous encoder Virtual s

4 - 17Applicable modeSignal nameReal VirtualPositioning start completedPositioning completed–Unusable ––Command in-position –Speed control in progress

4 - 184.3.2 Internal relays M2000 to M2319 (For Q172)The Q172CPU(N) has 8192 internal relay and latch relay points M/L0 to M/L8191.Of these points, M

4 - 19Applicable modeDevice No. Signal nameReal VirtualM2101 1-axis synchronous encoder current value change flag –M2102 2-axis synchronous encoder cu

4 - 204.3.3 Data registers D0 to D1315 (For Q172)The Q172CPU(N) has 8192 data register points D0 to D8191.Of these points, the 1316 points D0 to D131

4 - 21Applicable modeSignal nameReal VirtualCurrent feed value/Roller peripheral speedActual current valueDeviation counterMinor error codeMajor error

-2-4.3.3 Data registers D0 to D1315 (For Q172) ... 4-204.3.4 Sp

4 - 22(Continued from page 4-20)DeviceSynchronous encoder Virtual servomotorP1/E1 P2/E2 P3/E3 P4/E4 P5/E5 P6/E6 P7/E7 P8/E8Axis 1 Axis 2 Axis 3 Axis 4

4 - 23Applicable modeSignal nameReal VirtualCurrent feed value –Current value –Minor error code –Major error code –Unusable ––Unusable ––Current value

4 - 244.3.4 Special relays M9073 to M9079, M9104, M9105The Q172CPU(N) has 256 special relay points M9000 to M9255.Of these points, the nine points M9

4 - 25POINTHandling of registers (D704 to D708, D755 to D757)Since the bit devices shown below cannot be turned ON/OFF for each bit from the Q-PLC CPU

4 - 264.4 Motion SFC dedicated devicesThe motion CPU (PCPU) dedicated devices include the motion registers (#0 to #8191)and coast timer (FT).These de

4 - 27(2) SFC dedicated devices (#8000 to #8191)The SFC dedicated devices are shown below.It indicates the refresh cycle for device of which signal di

4 - 28(3) SFC error history deviceThe error information for up to eight past errors after turning ON the CPU powersupply is stored as a history. The e

4 - 29(4) SFC error detection signal (M2039)(Refresh cycle: operation cycle)The SFC error detection signal (M2039) is turned ON when any errors detect

4 - 30Memo

5 - 1Chapter 5 SFC ProgramThis chapter describes the configuration and each element of the SFC program.5.1 SFC program configurationThe SFC program

-3-6.1.14 Zero point return ...

5 - 25.2 List of SFC symbolsThe parts that can be a constituent element of SFC program are shown below. TheSFC program expresses the operation sequen

5 - 3Division DesignationSymbol(code size: byte)List expressionFunctionSHIFT(shifting toadvancereading) Gn (8)SFT Gn• If the last step is a motion con

5 - 45.3 List of branch/connection diagramsThe following shows the branch/connection patterns used to designate the steps/transitions within SFC diag

5 - 55.4 SFC program nameSet the "SFC program name" for each SFC program No. 0 to No. 255.The SFC program name is set within 16 single-byte

5 - 65.5 Steps5.5.1 Motion control stepStart the servo program Kn. Kn Designation range: K0 to K4095(1) Description of operat

5 - 75.5.2 Operation control stepExecute the operation control program Fn/FSn. Fn/FSn Designation range: F0 to F4095/FS0 to FS

5 - 85.5.3 Subroutine call/start stepCall/start the SFC program of designated program name. Program name (1) Description of operation(a) The designat

5 - 95.5.4 Clear stepInterrupt the execution of SFC program of designated program name. Program name CLR (1) Description of operation(a) The designat

5 - 105.6 TransitionEither a conditional expression or operation expression can be described for transition.The operation expression described here i

5 - 115.7 Jump/pointer Pn Pn Jump Pointer (1) Description of operation(a) "JUMP" functions to jump to the designated pointer Pn within lo

-4-9.10.2 Monitor operation...

5 - 125.9 Branch/connection5.9.1 Parallel shiftingThe execution is shifted to the step or transition connected in series.(1) To start a servo progra

5 - 135.9.2 Selective branch/connection(1) Selective branchThe conditions for multiple transitions (connected in parallel) are judged toexecute only

5 - 145.9.3 Parallel branch/parallel connection(1) Parallel branchMultiple steps, connected in parallel, are executed at the same time. Either stepor

5 - 155.10 Y/N transitionUse the "SHIFT Y/N transition", "WAIT Y/N transition" when the route needs to bebranched according to

5 - 16(2) Precautions(a) To connect to just before "SHIFT Y/N" or "WAIT Y/N", insert it between"connection – branch".•

5 - 175.11 Task operationThe timing to execute the SFC program can be set once for each program with theprogram parameter. The task is roughly classi

5 - 18(2) Event taskThe event task is used to execute the SFC program when an event occurs.The event includes the following:(a) Constant cycleThe SFC

5 - 195.12 SFC parametersThe SFC parameters include "task parameters" used to control the tasks (normal task,event task, NMI task) and &quo

5 - 205.13 SFC program start methodThe SFC program is executed while the PLC READY M2000 signal is ON.The SFC program can be started by the following

6 - 1Chapter 6 SV22 Servo Programs6.1 Servo programThe servo program is used to designate the type of positioning control and thepositioning data re

-5-11.6 Writing to the motion CPU... 11-

6 - 26.1.2 List of servo commandsThe commands listed below are available, but the usage validity differs according tothe CPU OS.Positioning dataCommo

6 - 3OthersRepeat conditionProgram No.CancelStartSpeed changeSV13for transfer assemblySV22for automatic machineReal modeSV22for automatic machineVirtu

6 - 4Positioning dataCommon settings Circular/helical Parameter blockPositioningcontrolInstructionsymbolProcessing detailsNumber of stepsParameter blo

6 - 5OthersRepeat conditionProgram No.CancelProgramSpeed changeSV13for transfer assemblySV22for automatic machineReal modeSV22for automatic machineVir

6 - 6Positioning dataCommon settings Circular/helical Parameter blockPositioningcontrolInstructionsymbolProcessing detailsNumber of stepsParameter blo

6 - 7OthersRepeat conditionProgram No.CancelStartSpeed changeSV13for transfer assemblySV22for automatic machineReal modeSV22for automatic machineVirtu

6 - 86.1.3 Linear control1 to 4-axis control with ABS-1 to ABS-4 (absolute method)(1) Using the zero point as a reference, positioning control is car

6 - 96.1.4 Circular interpolation control using auxiliary point designation2-axis control with ABS (absolute method)(1) Circular interpolation from

6 - 106.1.5 Circular interpolation control using radius designation2-axis control with ABS , ABS , ABS , and ABS (absolute method)(1) Circular i

6 - 116.1.6 Circular interpolation control using center point designation2-axis control with ABS , ABS (absolute method)(1) Using the currently st