6. SERVO PROGRAMS FOR POSITIONING CONTROL
6
−
15
6.5
Creating Sequence Programs to Start Servo Programs
This section describes sequence programs that execute positioning control by
using servo programs.
6.5.1
Case where the servo program is executed once only
The general concept for a program that executes a designated servo program
once only in response to the start request is shown in Figure 6.5.
PLS
1)
SET
3)
RST
3)
Start request
1)
3)
5)
SVST
4)
Servo program start request
issued in response to SVST
instruction
When the start request comes
ON, if the designated axis is not in
motion, a request to excute a
SVST instruction is issued.
On completion of execution of
the SVST instruction, the device
designated at 1) isreset.
2)
The applications of 1) to 5) 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 axis designated
in the servo program)
3): SVST instruction execution request flag (devices that can be used: Y, M, L, S, B, F)
4): Axis No. designated in the servo program
5): Started servo program No. (K0 to K4095)
A sequence program that issues a start request for servo program No.10 - which
executes circular interpolation with axis 3 and axis 4 - when X000 comes ON, is shown
below.
(1)
Condition
The flags that can be used with sequence programs are indicated below.
Flag Name
Device No.
Flag for recording the start request
M10
SVST instruction execution request flag
M11
Axis 3
M2003
Start accept flag
Axis 4
M2004
(2)
Sequence program example
SET
RST
SVST
M10
X000
M11
M2003 M2004
PLS
M10
M11
K10
M11
J3J4
Start request
Start accept
Fig. 6.5 Sequence Program for Starting a Servo Program
Example
