6. SERVO PROGRAMS FOR POSITIONING CONTROL
6
−
14
6.5.2
Case where different servo programs are executed consecutively
The general concept for a program that, on completion of positioning in accordance
with a servo program executed in response to a start request, executes the next
servo program, is shown in Figure 6.6. below.
(SVST)
(SVST)
When the start request comes ON, if
the designated axis is not in motion, a
request to execute a DSFRP/SVST
instruction is issued.
Servo program start request issued in
response to DSFRP/SVST
instruction.
On completion of execution of the
DSFRP/SVST instruction, the device
designated at 3) is reset
The next DSFRP/SVST instruction
execution request flag 6) is turned
ON.
When all axes have stopped after the
DSFRP/SVST instruction execution
request flag 6) has come ON, the
execution request for the next
DSFRP/SVST instruction is issued.
The servo program start request is
issued in accordance with the
DSFRP/SVST instruction.
On completion of execution of the
DSFRP/SVST instruction, the device
designated at 6) is reset.
Start request
1)
3)
2)
1)
3)
4)
5)
3)
PLS
SET
DSFRP
RST
6)
SET
7)
8)
9)
6)
DSFRP
RST
6)
7)
PLS
2)
*The applications of 1) to 9) are indicated below.
1):
Start request leading edge detection flag (devices that can be used: Y, M, L, S, B, F)
2):
Start accept flag (set a number of flags corresponding to the number of axes
designated in the servo program)
3), 7): DSFRP/SVST instruction execution request flag (devices that can be used: Y, M, L,
S, B, F)
4), 8): Axis No. designated in the servo program
5), 9): Started servo program No. (K0 to K4095)
6):
Start request recording flag (Y, M, L, S, B, F)
Fig. 6.6 Sequence Program for Starting Servo Programs
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