NS system Tango-B series, User Manual

Page: 55 / 123

Command Description
Range
Min. Max.
C
O
N
T
I
N
U
O
U
S
R
U
N
N
I
N
G
G22
* CONTINUOUS SPEED RUN
Rotate the servo motor at constant designated speed. The unit is rpm
The rotational direction is determined by the sign of the data ("
"=CW, ＋
" "=CCW) and speed is determined by the absolute value of data. －
The acc./dec. time is pre-determined by the Setup-03 "BSACC" or
determined by the command (G08) in program when you want.
If the set value is "0", it stops.
For example, this command preforms the function as follows.
Check sensor or compare position while it run continuously, then some
function is performed according to sensor status or position.
-5000 +5000
[Example]
File Step Code Data
Description
00 02 G08 +10 Acc./dec. time=0.1sec
00 03 G22 +1000 Continuously run at +1000 rpm
00 04 M70 +2 Wait for input-2 on
00 05 G22 +0 Stop
00 06 M60 +5 Output-5 on
G23
* ANALOG CONTINUOUS SPEED RUN
Rotate the servo motor at constant speed which is set by the analog
speed command (F01). It performs according to the value of data as
follows
The acc./dec. time is pre-determined by the Setup-03 "BSACC" or
determined by the command (G08) in program when you want.
#. The usage is same as "G22".
Value Operation
0 Stop
+1 Continuous CW run at speed set by "F01"
-1 Continuous CCW run at speed set by "F01"
-1 +1
G39
* COMPARE POSITION & JUMP
It is subsidiary command of "G22" and "G23".
If the program reaches "G22" or "G23" for the first time, motor begins to
run. If the program meets "G39", compare the current position with the
set position. If the current position exceeds the set position, jump to the
next but one step(+2). Otherwise, if the current position is less than the
set position, go to the next step(+1).
For example, this command preforms the function as follows.
Compare current position while it run continuously, then some function is
performed according to current position.
-999999
[Example]
File Step Code Data Description
00 02 G92 +0 Position clear
00 03 G22 +1000 Continuously run at +1000 rpm
00 04 G39 +5000 Compare with 50.00 mm
00 05 M50 +4 If less than 50.00 mm, jump to step 4
00 06 G22 +0 If greater than 50.00 mm, then stop
00 07 M60 +4 Output-4 on